Add ModelCalibrationHelper class

[traversaro]

The iDynTree::ModelCalibrationHelper class simplifies the process of loading a model from file, update its inertial parameters and exporting again to file. It is useful in the process of calibration of the inertial parameters of a model.

[traversaro]

As part of the PR, both the release notes and test for the new class have been added.

[traversaro]

@nunoguedelha @fjandrad you may find this class useful for future works.

[traversaro]

As this function can also be used with human models (with inertial parameters obtained from tables or calibration) this can be of interest also of AnDy people @Yeshasvitvs @lrapetti .

[diegoferigo]

As this function can also be used with human models (with inertial parameters obtained from tables or calibration) this can be of interest also of AnDy people @Yeshasvitvs @lrapetti .

Indeed! Particularly, the serialization to string can be useful if we want to implement an online model generator containing also an RPC server that sends the runtime-computed model to the devices part of the architecture. @Yeshasvitvs @lrapetti

[traversaro]

Indeed! Particularly, the serialization to string can be useful if we want to implement an online model generator containing also an RPC server that sends the runtime-computed model to the devices part of the architecture. @Yeshasvitvs @lrapetti

At the moment the only method to "update" the model is meant to specify the inertial parameters, but we can also add other methods to change kinematic information (for example for kinematic calibration). It could also be helpful for sensor calibration, even if sensors export in URDF still needs to be implemented, see #536 and #554 .