Implement 'set one', 'set all' rpc commands

Extend available commands for setting/getting parameters from rpc port:
- set one: set one element of the parameter
- set all: set all the elements of the parameter to the same value
- get one: get one element of the parameter
Bug fix in method 'readStreamParams': I had forgotten to increment the
counter variable j.
Add param initialization from resource finder

Add method in ParamHelperServer for initializing parameters from
ResourceFinder.
Add new type of IO for parameters, that is PARAM_CONFIG, for parameters
that are set at configuration time, but after that cannot be modified.
Reinsert memory allocation for parameters that are not linked to an
external variable (to not force user to initialize after all parameters
have been linked).
Create Locomotion Planner

This new module should send the desired positions of COM and feet to the
locomotionControl module, possibly reading them from a text file. At the
moment the module does almost nothing, but it compiles.