softscope: fix include guards
cartwheel: improve diagnostic output (joint space coordinates, ...)
cartwheel: factor out inverted pendulum foot placement
cartwheel: move inverted pendulum into IKVMCController
ipopt_test: allow >1 control input, add fully actuated Acrobot
cartwheel: changes in preparation for joint space control
cartwheel: add CWController class
cartwheel: make controller return joint space torques
cartwheel: minor changes
cartwheel: further cleanup, add DebugInfo class
cartwheel: further cleanup (work in progress); merge BehaviourController
    into TurnController
cartwheel: cleanup (improve separation between controller components)
cartwheel: TurnController: cleanup
cartwheel: changes to contact point reporting
cartwheel: fix two memory errors found by valgrind
cartwheel: add document describing Cartwheel model dimensions
cartwheel: change Vector3d to resemble Eigen API more closely
cartwheel: add WalkController, a simplified version of TurnController
cartwheel: add option to use stance foot locking instead of contact joints
cartwheel: move mass and inertia info to StaticRobotInfo.h