Implement additional yarp::dev motor interfaces

[jgvictores]

Think about implementing additional motor/axis yarp::dev interfaces:

• http://www.yarp.it/classyarp_1_1dev_1_1IMotor.html
• http://www.yarp.it/classyarp_1_1dev_1_1IMotorEncoders.html
• http://www.yarp.it/classyarp_1_1dev_1_1IAxisInfo.html

[jgvictores]

Related: #153 (pulse/sample parameter).

[jgvictores]

Related: roboticslab-uc3m/openrave-yarp-plugins#55

[PeterBowman]

http://www.yarp.it/classyarp_1_1dev_1_1IAxisInfo.html

Might be blocked by roboticslab-uc3m/teo-main#44 (renaming joints).

[PeterBowman]

Brief summary of what is currently implemented (✔️), what is not (❌), and what is covered in the scope of this issue (bold text) as of latest apocanlypse commit:

• ❌ yarp::dev::IAmplifierControlRaw
• ❌ yarp::dev::IAxisInfoRaw
• ❌ yarp::dev::IControlCalibrationRaw
• ✔️ yarp::dev::IControlLimitsRaw
• ✔️ yarp::dev::IControlModeRaw
• ✔️ yarp::dev::ICurrentControlRaw
• ✔️ yarp::dev::IEncodersTimedRaw
• ❌ yarp::dev::IImpedanceControlRaw
• ❌ yarp::dev::IInteractionModeRaw
• ❌ yarp::dev::IMotorRaw
• ❌ yarp::dev::IMotorEncodersRaw
• ❌ yarp::dev::IPidControlRaw
• ✔️ yarp::dev::IPositionControlRaw
• ✔️ yarp::dev::IPositionDirectRaw
• ❌ yarp::dev::IPWMControlRaw
• ✔️ yarp::dev::IRemoteVariablesRaw
• ✔️ yarp::dev::IVelocityControlRaw
• ✔️ yarp::dev::ITorqueControlRaw

[PeterBowman]

Ready at 8fa67e5. With this commit, I'm also assuming that both encoder and current reads are meant to be queried via TPDO and therefore stored in an internal buffer (#232 (comment)). Also, reverse encoder count is configured via dedicate YARP .ini option.