Add new strictness modes to SwitchController service (backport #2224)

[mergify]

Add new strictness mode that I'm planning to implement in near future. Here are more details about it

• With RESOLVE the idea is to be able to activate or deactivate a particular controller without having to mention each and every controller of the chain. It's cool especially if you have a complex system and when you want all the chain to start in same update iteration.
• With FORCE the idea is similar to RESOLVE, but it also deactivates the current controller to activate the other controller. A simple example, an arm in JTC switching to admittance, but you don't have to specify JTC in deactivate list. Basically, you don't care of internal state, but you want the system to figure a way out

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  This is an automatic backport of pull request Add new strictness modes to SwitchController service #2224 done by Mergify.