+ Added Frame Hbase into the orcWbiModel
+ Added wbiSetState using WBI Hroot and Troot conventions (will call necessary conversions to store into ORC format)
+ Created wbiToOrcTwistVector function in utils
Added non-linear terms getting

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

Conflicts:
	modules/basicWholeBodyControlModule/src/orcWbiModel.cpp
	modules/basicWholeBodyControlModule/src/orcWbiUtil.h
Merge branch 'master' of https://github.com/robotology-playground/codyco-isir

Conflicts:
	modules/basicWholeBodyControlModule/src/orcWbiModel.cpp