Look direction skills

requested review from @dreher

This is the current behavior of the skills: Kazam_screencast_00001

I tested again with the Armar7 Simulation and the Head does not move. Tested branch: chore/gaze-controllers-and-scheduler-refactoring

I found no errors printed in the log. The only maybe interesting things I noticed in the logs:

/common/homes/students/ujrwq_arlt/armar7/simox/VirtualRobot/RobotFactory.cpp:111 - ERROR - RobotNode CenterArms_link is not connected to kinematic structure...
Backtrace:
1       0x7fd74a2cbe0d armarx::LogSender::log(armarx::MessageTypeT, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) + 4509
2       0x7fd74a2ccb84 armarx::LogSender::flush() + 132
3       0x7fd74a2ceff4 armarx::ArmarXLogBuf::flush() + 116
4       0x7fd74a2cf092 armarx::ArmarXLogBuf::sync() + 50
5       0x7fd748f29488 std::ostream::sentry::~sentry() + 56
6       0x7fd748f2965b std::ostream::put(char) + 91
7       0x7fd748f2988f std::basic_ostream<char, std::char_traits<char> >& std::endl<char, std::char_traits<char> >(std::basic_ostream<char, std::char_traits<char> >&) + 47
8       0x7fd747eda674 VirtualRobot::RobotFactory::initializeRobot(std::shared_ptr<VirtualRobot::Robot>, std::vector<std::shared_ptr<VirtualRobot::RobotNode>, std::allocator<std::shared_ptr<VirtualRobot::RobotNode> > >&, std::map<std::shared_ptr<VirtualRobot::RobotNode>, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, std::less<std::shared_ptr<VirtualRobot::RobotNode> >, std::allocator<std::pair<std::shared_ptr<VirtualRobot::RobotNode> const, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > >, std::shared_ptr<VirtualRobot::RobotNode>) + 2164
9       0x7fd7481d2145 VirtualRobot::RobotIO::processRobotChildNodes(rapidxml::xml_node<char>*, std::shared_ptr<VirtualRobot::Robot>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::shared_ptr<VirtualRobot::RobotNode>, std::vector<VirtualRobot::RobotIO::ChildFromRobotDef, std::allocator<VirtualRobot::RobotIO::ChildFromRobotDef> >, std::less<std::shared_ptr<VirtualRobot::RobotNode> >, std::allocator<std::pair<std::shared_ptr<VirtualRobot::RobotNode> const, std::vector<VirtualRobot::RobotIO::ChildFromRobotDef, std::allocator<VirtualRobot::RobotIO::ChildFromRobotDef> > > > >&, std::vector<rapidxml::xml_node<char>*, std::allocator<rapidxml::xml_node<char>*> >&, std::vector<rapidxml::xml_node<char>*, std::allocator<rapidxml::xml_node<char>*> >&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, VirtualRobot::NodeMappingEleme10      0x7fd7481d3a47 VirtualRobot::RobotIO::processRobot(rapidxml::xml_node<char>*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, VirtualRobot::BaseIO::RobotDescription) + 567
11      0x7fd7481d55ef VirtualRobot::RobotIO::createRobotFromString(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, VirtualRobot::BaseIO::RobotDescription) + 367
12      0x7fd7481d5b45 VirtualRobot::RobotIO::loadRobot(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, VirtualRobot::BaseIO::RobotDescription) + 885
13      0x7fd74eac05ab armarx::armem::robot_state::VirtualRobotReader::getRobot(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, armarx::core::time::DateTime const&, VirtualRobot::BaseIO::RobotDescription const&) + 683
14      0x7fd74ed14f94 armarx::view_selection::gaze_scheduler::Scheduler::init() + 116
15      0x7fd74ed15558 armarx::view_selection::gaze_scheduler::Scheduler::Scheduler(armarx::view_selection::gaze_scheduler::Scheduler::InjectedServices const&, armarx::view_selection::gaze_scheduler::Scheduler::Params const&) + 280
16      0x559d9f5aff0a /common/homes/students/ujrwq_arlt/armar7/armarx/skills/view_selection/build/bin/gaze_scheduler_run(+0x39f0a) [0x559d9f5aff0a]
17      0x7fd74a295964 armarx::ManagedIceObject::start(IceInternal::ProxyHandle<IceProxy::Ice::Object>&, IceInternal::Handle<Ice::ObjectAdapter> const&) + 532
18      0x7fd74a288a2b armarx::ArmarXObjectScheduler::startObject() + 299
19      0x7fd74a28b304 armarx::ArmarXObjectScheduler::scheduleObject() + 116
20      0x7fd74a30a145 armarx::RunningTaskBase::run() + 181
21      0x7fd74a82dce9 /usr/lib/x86_64-linux-gnu/libIce.so.37(+0x1a7ce9) [0x7fd74a82dce9]
22      0x7fd7497106db /lib/x86_64-linux-gnu/libpthread.so.0(+0x76db) [0x7fd7497106db]
23      0x7fd74892e61f clone + 63

and the many "Waiting for visu" log entries from the ImageProviderDynamicSimulation component.

We should name "LookCustomDirection" to "SetCustomViewTarget" (or is it named gaze target? if so, then change it accordingly), because that's what we do here.