Merge pull request #3 from olivier-stasse/master

Publish joint trajectories
fixed offset for 0,0,0 origin of HRP2
fixed half sitting pos
Merge branch 'master' of github.com:orthez/feasibility
fixed #5 --- perl -e "s/([^_a-zA-Z0-9])_([a-zA-Z0-9][_a-zA-Z0-9]+)/\1\2_/ig" -pi $(find . -type f -iname \*.cpp -or -iname \*.h)
small correction to #5
fixed #6, added simulation define, which can be removed for real execution
added robot related files to model folder
fixed #1, trajectory is now checked for feasibility after smoothing operation
updated dependencies
added half-sitting values to default foot position
removed robotDATA.dat dependency
added boolean ROS parameter planner_publish_robot_configurations , to disable RobotStatePublisher in rviz
fixed small bug, namely getParam/param
added humanoids2013 planner functionality to core
publishing of footsteps on rostopic /feasibility/footsteps/relative
Add subfolder env to look for tris file.