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[iCubTelemVizServer] Minor refactoring
- `ICubTelemetry.parser` will later be replaced by a function which parses and eventually sends the data. For now it only parses the data and forwards it to the notifier. - `this.forwardYarpDataToNotifier` processes the Yarp data (parse, forward to notifier), or does nothing. - Rename the functions accordingly.
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