Add parameter to controller base class for feedforward force error

[domire8]

This is an item that will solve two issues on epfl-lasa control libraries:

• Force gain matrix in Impedance
• Inconsisten behavior of passing state.force_ and state.torque_

Essentially, the controller base class should have an additional parameter that allow to decide if the error in wrench or torque should be passed on in the compute_command function or ignored.