Remove memory size display for qp-problem.
Add velocity output for the trunk direction, and bounds on hip joints angular velocity.

Default bound on hip joints angular velocity are very important for robot
models which do not define them. This is the case for the sample robot.
If no default bound are defined, the robot does not turn...
Typo
Reformulated tests for Herdt2010 algorithm.

This will be further modified with boost:assign.
Documentation, clean up and bugfix

Adapt names to prefered convention
Introduce security margin to the angular joint limits for the computation of the trunk velocity
Minor clean up
Temporary change of the CoM initialization

Changed initialization of the CoM to take into account the height provided by the model.
The class LinearizedInvertedPendulum2D will be adapted soon to allow for variant height and multiple bodies.
Add external object door
Add accessor to position matrices
Add accessor to the constraints number and bugfix
Add new object Door
Add computation of external constraints and CoM position dynamics
Bugfix and reformulation
Bugfix and clean up

- Fix bug in convex_hull_t::rotate...
- Clean up in several files
Bugfix, Warnings, Refactoring

- Fix bug at line 239
- Eliminate warnings due to invalid comparisons
- Some refactoring
Smaller refactoring
Add method 

- Add QPProblem::reset()
Minor temporary changes
Merge with topic/rc-v3.1.4
Add external constraints on the CoM
Accessor, documentation

- Add setter for EndingPhase_ in ZMPVel.
- Add documentation
- Smaller clean-up