added KDL_CFLAGS to cbf.pc.in to ensure, that correct KDL + Eigen version is used with CBF
fixed debugging code
force pkg-config to be re-evaluated every time, added "doc" target
moved to Eigen3, no Eigen2 support anymore
fixed KDL_CFLAGS in cbf.pc
fixed setting of CBF_HAVE_PYTHON
fixed svd computation and library names
fixed initialization of SubordinateController's m_Master, which was only working for XSD initialization
fixed pyxbgen checks / setting PYTHONPATH on calling
fixed some availability checks