compilation errors resolved. msg_ & ik_mes alive

changed matlab (a^2) to pow(a,2) etc.
abs()->fabs().
The specific move task needs an extended message... I will extend the
used msg_message_s to resemble the current ik_message_s. The current
msg_message_s is a subset of ik_message_s so the rest of the code should
work afterwards...
Revert "compilation errors resolved. msg_ & ik_mes alive"

This reverts commit d9d114e42cabeee6835f0bf4f66c3f9359d49adc.
Revert "Revert "compilation errors resolved. msg_ & ik_mes alive""

This reverts commit e7e0cdb42fa65e5a239d38b2681a141d411b5dd4.