[pddl_panner/src/eus-pddl.l] support multiple simbols for 'forall and 'exists

[Naoki-Hiraoka]

Currently, eus-pddl.l supports only

(forall (?OBJ - object) ...)
(exists (?OBJ - object) ...)

Because of this, some demos do not work properly.

jsk_planning/pddl/pddl_planner/demos/2011_saito/solve-simple-task.l

Line 51 in b99d2a2

(forall (?S1 ?S2 - spot)

jsk_planning/pddl/pddl_planner/demos/2011_saito/solve-knock-door.l

Line 40 in b99d2a2

:precondition '((exists (?base - object ?spot - spot)

This PR makes eus-pddl.l support the followings

(forall (?OBJ1 ?OBJ2 ... - object ...) ...)
(forall (?OBJ1 - object ?OBJ2 - object ...) ...)
(exists (?OBJ1 ?OBJ2 ... - object ...) ...)
(exists (?OBJ1 - object ?OBJ2 - object ...) ...)