Mod checked, Con comparison, MOOGA specialization

* CompassBiped
Corrected a minus sign in damping equation. Quadruple checked dynamic
and impact equations.

* ModelVer
Verified the CB model once more. Added some equations for energy
analysis. Too many variable to reach a good conclusion.

* Controller
Updated the implementation for generating and plotting the torque signal
from the controller (EXT PULSE IMPLEMENTATION STILL NEEDED).

* GetTopPop
Implemented "JOAT" (Jack Of All Trades) to find a middle ground between
the single fitness elitism of the Pareto front and the "weighted
elitism" of Sum(w*Fit).
3 options implemented:
- 1: normal Pareto front
- 2: first front + remaining fronts from best population quantile.
- 3: all fronts from best population quantile.

* InitGen
First implementation of "inter-MOOGA" compatibility. When copying
genomes from a different MOOGA, only the intersection of fitness
functions is copied to the appropriate place.

* MOOGA
Corrected the implementation of SlopeFit (for the last slope).
Implemented a GetFitFcnName method to get the name of a fitness function
from its handle.

* Pareto
Now Data should be provided with a unique ID outside of Pareto.
Added a pre-implementation for an additional JOAT option: Removing
minimal values from the "inverse" Pareto fronts, i.e. Maximize VS
Minimize.

* Quantile
Implementation for removing "low hanging fruit", i.e. keeping only the
top quantile individuals that did well in several fitness tests and not
just a single one.

* MOOGA/Run
Corrected implementation of ZMPFit to find the ID of the up/downslope
fitness first (instead of defaulting to 4, 5.

* RunSeq
Added some backward compatibility for old fitness function handles.

* CheckConvergence
Corrected a bug where the sim would stop (converge) if doGoNoGo is 1,
although the sim was set to run indefinitely.

* Simulation/Run
Corrected a bug with duplicated torque outputs.

* Simulation/Simulation
Added backward compatibility for the new controller thresholds.

* GA_ROBIO
New MOOGA using optimization values from the ROBIO paper.
Improved Quantile and new Mimicking implementation

* .gitignore
Added some .mat files

* Controller
Added CompareSigs method to compare between the signals of 2 controllers
(should be the same length). The comparison is calculated as the
integral of abs(Sig1-Sig2) over T.

* Controller/MimicGains
Updates the controller's gains to mimic the torque signals of NCorig at
a certain slope. First the frequency is copied and then the amplitudes
are adjusted (this can be done with several methods but none is 100%
effective since the offset and duration of each pulse are not modified).

* Genome/Mimic
Uses Con.MimicGains so Seq1 mimics the output of Seq2 at a certain
slope. NOT FULLY IMPLEMENTED YET.

* Analyze
Added some post-analysis code to sort out the slopes+data (ascending
from negative to positive slopes).

* Pareto
Added an option to request a single front (or n fronts) to reduce
computations when not all fronts are needed.

* Quantile
Added a new method to remove the lower quantile that seems to work
nicely when the data is "sparse": delete IDs that scored 0 in several
categories (but save the first Pareto front of them, thus preserving the
maxima). From the last group (those that scored 0 in m categories and
would surpass the number of IDs that need to be discarded) we remove IDs
from Pareto fronts until just enough IDs are left in the group.

* GA_ROBIO
Reduced the mutation deltas (init and final) to see if fitness values
increase earlier (early generations).
(ALSO tried using "inverse" Pareto fronts but that didn't seem to work
well)