Added Relative MetaTaskDyn and modified CMakeLists
Added gain utilisation to task-dyn-limits.cpp and  added some useful comments
Added secondOrderKinematics option with drift Jdot*dq compensation in solver-kine and userfriendly changes/commentaries in solver-op-space.cpp
Added control on task type when second order kinematics is set
Added control on task type when second order is set
Resolved timing problem on solver-kine. Now working on second order
Added comment for method setSize in stack-template.t.cpp
Solved unreferenced pointer if empty stack
Added underscore to attribute name secondOrderKinematics in solver-kine.cpp