Add constant defining list of iCub main joints

Add constructors for class LocalIdList
New library for managing module parameters

First draft of the new library for simplifying management of get/set rpc
commands
New controller for locomotion

Add new module for controlling iCub's center of mass, foot
positions/orientations and whole-body joint posture. This module should
replace the comStepper module.
Merge branch 'master' of https://github.com/robotology/codyco