Added iCubInertialSensorWaist for iCub v2.7

[pattacini]

This PR adds up the new kinematics chain iCubInertialSensorWaist that accounts for the IMU mounted in the waist of the iCub 2.7.

Further, the kinematics of all limbs take version 2.7 into account as well.

I also took the opportunity to streamline the handling of HW versions for some of the available limbs. Thus, it might be difficult to review the PR since the line-by-line comparison is compromised 😞

The new chain contains no joints but only a fixed H0, therefore the following snippet (provided in this attached archive):

iCubInertialSensorWaist sensor;
cout << "H =" << endl << sensor.getH().toString(3, 3) << endl;
cout << "DOF = " << sensor.getDOF() << endl;
cout << "Ang = " << sensor.getAng().toString(3, 3) << endl;

will yield (when compiled in Release):

H =
 0.000 -0.500  0.866  0.091
-1.000  0.000  0.000 -0.011
 0.000 -0.866 -0.500 -0.112
 0.000  0.000  0.000  1.000
DOF = 0
Ang =

In particular, routines such as getAng() and the others manipulating the DOF's do contain calls to yAssert inside, which in turn will set off assertions in Debug.

[Nicogene]

I checked side-by-side all the allocate(const std::string &_type) definitions and the refactoring seems ok.

LGTM 🚀