BaseControl based movements added to FreeFloorViewer #66
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Added also a pair of new files for yarpmanager
Also the rotate function in freeFloorThread uses 180 degrees as a rotiation reference and not the camera FOV.
A little correction has also been applied to FreeFloorThread::rotateBase
Now the floor changes to blue when the robot is navigating and changes to red if the robot is moving but no navigation is taking place. This is done reading from the filteredCommand port of baseControl
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