Merge pull request #171 from fabienrohrer/master

Fixed misc compilation issuesFixed misc compilation issues
Corrected MX28 module.
Corrected makefiles to include te new MX28.cpp
Corrected kinematics module.
Corrected makefiles to add Kinematics.cpp
Corrected indentation.
Merge pull request #172 from DavidMansolino/Framework

Corrected frmework compilation issues