Added library verbalization to capsulate utility methods used in various skills

source/armarx/speech/CMakeLists.txt

...arx/speech/skills/object_last_seen_at/core/CMakeLists.txt

...eech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp

...kills/scene_knowledge_verbalization/skills/CMakeLists.txt

...cene_knowledge_verbalization/skills/ObjectsAtLocation.cpp

...rbalization/skills/ObjectsWithKnownAffordancesInScene.cpp

source/armarx/speech/verbalization/CMakeLists.txt

source/armarx/speech/verbalization/object_verbalization.cpp

source/armarx/speech/verbalization/object_verbalization.h