Add the possibility to dinamically add and remove tasks in the IK/TSID

[GiulioRomualdi]

This capability should allow the user to make real-time adjustments to the tasks within the IK/TSID framework. To achieve this, we may have to provide a mechanism for the user to enable or disable tasks programmatically. In order to manage it, the IK/TSID solver should be capable of recognizing when it's necessary to delete and create a new quadratic programming problem (i.e., if the number of constrains changes)

cc @traversaro @S-Dafarra