First experiments for humanoids 2013.
Merge branch 'topic/visual-planning-humanoids-experiments-nonholonomic' into topic/visual-planning

Conflicts:
	matlab/common/add_localization_noise.m
	matlab/common/init_walk_01.m
	matlab/common/load_orientations_grid.m
	matlab/common/parameters_planner.m
	matlab/common/simulation_loop.m