Implement model interface with iDynTree

Copy Silvio's implementation of whole body model interface using
iDynTree form Silvio's branch.
Add method to retrieve ID of link from its name.
Work on locomotion control

Replace some Eigen vectors with yarp vectors for using minJerkTrajGen.
Start implementing controller using whole body model interface
implemented by Silvio using iDynTree.
Update all CMakeList to include iDynTree and its dependencies.
Note that this version of the controller doesn't work yet.
Changed order of modules in CMakeList

Moved all the libraries at the beginning so that the modules can see the
variables created by the libraries.