Convert plotForceAndVizFromSample to a class

[fjandrad]

The idea is to exploit the fact that many inputs in reality do not change often or not at all.

• change everytime

  • i
  • jointPos
  • H

• change rarely

  • dataset
  • sensorsToAnalize
  • odom
  • viz3
  • whichFtData
  • estimatedAvailable
  • fixedFrame
  • model, might be completly deleted

• could be changed every time

  • varargin, used only to toggle for using torque or forces in the plot