Account for modifications in iDynTree
Update icubWholeBodyActuators.cpp

Re-enabled check on robot simulator for "advanced" control modes (VelocityControl2 in particular).
Added code to comply with the new yarp IOpenLoop interface. Conditional cmake macro generation ensure that the library works with both old and new yarp versions
Merge branch 'master' of https://github.com/robotology-playground/yarpWholeBodyInterface

Conflicts:
	src/icubWholeBodyActuators.cpp
[icubWholeBodyModel] fix bug in getCentroidalMomentum, thanks @andreadelprete
added dependency on paramHelp for compiling use wbi external torque
removed not useful setD2Ang in computeCentroidalMomentum
added workaround in openPolyDriver to avoid pwm streaming on the new interaction mode yarp branch
Allow use of device driver methods to set motor control references in streaming (i.e. when setting the whole body part) for icubGazeboSim.
added function for zmp debugging for wholeBodyDynamics
Merge branch 'master' of https://github.com/robotology-playground/yarpWholeBodyInterface
Fix for urdf constructor madness
Add option to get limits from model instead of querying the controlboard
commented spurious lines
merged files
Merge pull request #4 from robotology-playground/jorhfix

Jorhfix
Added examples for yarpWholeBodyInterface
Update README.md
Fix CMakeList
fix missing installation helpers