(AutoBalancer.*, Stabilizer.*) : Remove duplicate codes for transition_smooth_gain
(Autobalancer.*) : Remove unused codes and use is_legged_robot flag
(AutoBalancer*) : Use function and variable names. Use TargetParameter and CurrentParmeter
Merge remote-tracking branch 'origin/master' into update_abc_codes
(AutoBalancer.*) : Add data port for acceleration reference which can be used in KalmanFilter.cpp
Merge pull request #287 from snozawa/update_abc_codes

Update AutoBalancer codes