Mass matrix conversion between ORC and WBI completed (with simple case test done)
adding code to set the q, qdot state from thread and not get directly from WBI each time any of the wbiModel functions are called
Merge branch 'master' of https://github.com/robotology-playground/codyco-isir

Conflicts:
	modules/basicWholeBodyControlModule/src/orcWbiModel.cpp
Resolved conflicts but still will have issues in runtime (to fix)

Merge branch 'master' of https://github.com/robotology-playground/codyco-isir

Conflicts:
	modules/basicWholeBodyControlModule/src/orcWbiUtil.cpp
	modules/basicWholeBodyControlModule/src/orcWbiUtil.h
Made thread call setJointState using data obtained from WBI rather than obtaining it each time within WBI (WBI now only does "computation" of required Matrices/vecotrs using WBI)