Add method IWholeBodyState::setEstimationParameter

- this new method can be used to tune hyperparameters of the estimation
algorithms (e.g. moving window sizes, filter cut frequencies).
- make methods get***List return by const reference rather than by copy,
so that it's more efficient
- add 1st order low pass filter to joint/motor torque estimation
Add parameters for tuning state estimation

- New parameters: max window size and threshold for adaptive window
estimation of joint velocity and torque velocity, cut frequency of
torque low pass filter
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