Add and improve loaders from manipulation pipeline paper

source/RobotAPI/libraries/PriorKnowledge/CMakeLists.txt

source/RobotAPI/libraries/PriorKnowledge/README

...PriorKnowledge/util/AffordanceLoader/AffordanceLoader.cpp

...s/PriorKnowledge/util/AffordanceLoader/AffordanceLoader.h

...rKnowledge/util/AffordanceLoader/datatypes/Affordance.cpp

...iorKnowledge/util/AffordanceLoader/datatypes/Affordance.h

...ries/PriorKnowledge/util/CommonPlaceLoader/CMakeLists.txt

...iorKnowledge/util/CommonPlaceLoader/CommonPlaceLoader.cpp

...PriorKnowledge/util/CommonPlaceLoader/CommonPlaceLoader.h

.../libraries/PriorKnowledge/util/CommonPlaceLoader/Visu.cpp

...PI/libraries/PriorKnowledge/util/CommonPlaceLoader/Visu.h

...nowledge/util/CommonPlaceLoader/datatypes/CommonPlace.cpp

...rKnowledge/util/CommonPlaceLoader/datatypes/CommonPlace.h

...ies/PriorKnowledge/util/LocationLoader/LocationLoader.cpp

...aries/PriorKnowledge/util/LocationLoader/LocationLoader.h

...API/libraries/PriorKnowledge/util/LocationLoader/Visu.cpp

...otAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.h

...PriorKnowledge/util/LocationLoader/datatypes/Location.cpp

...s/PriorKnowledge/util/LocationLoader/datatypes/Location.h