fixed minor compile-time error
Added inverse dynamics computations for humanoids in the single-support case
Added Release compile-flags to make boost::numeric::ublas faster
First pass: now it compiles
Torque-components version of the inverse dynamics with single support
...
Merge branch 'master' of github.com:quangounet/TOPP

Conflicts:
	ZMPTorqueLimits.cpp
Merge branch 'master' of github.com:quangounet/TOPP
Midnight Boost/LAPACK penance for Least Squares sinning