[initial commit] test estimator + tracer utils and plot utils

CMakeLists.txt

include/sot/talos_balance/base-estimator.hh

include/sot/talos_balance/common.hh

include/sot/talos_balance/filter-differentiator.hh

include/sot/talos_balance/madgwickahrs.hh

include/sot/talos_balance/utils/causal-filter.hh

python/sot_talos_balance/create_entities_utils.py

...os_balance/extract_torque_motorenc_joint_enc_batteries.py

python/sot_talos_balance/talos_conf.py

python/sot_talos_balance/test/test_COMTraj_tracer.py

python/sot_talos_balance/test/test_estimator.py

python/sot_talos_balance/utils/__init__.py

python/sot_talos_balance/utils/filter_utils.py

python/sot_talos_balance/utils/plot_utils.py

python/sot_talos_balance/utils/sot_utils.py

src/CMakeLists.txt

src/base-estimator.cpp

src/common.cpp

src/filter-differentiator.cpp

src/madgwickahrs.cpp