Remove the "velocity factor" of moving frame transformations
Add the stiffness indentification for HRP2
Add a signal to output the inverse flexibility in thetaU format
Correct the initialization ot the position of the IMU in the chest reference frame
update the calibration code for elasticity
Add a mode where the local to global yaw angle is not considered.
Add other plots to the plot script
Add another signal for angular acceleration
add elastic dynamical system
Model base estimator fonctional before cleaning
code with error: begining of variable input size
Variable input compiling, before checking results
seems to work maybe an offset on the model 17/07/2014
Before changing method for contacts efforts
Add input reconstructor. Update the estimator.

Seems to work
Finish merging with Alexi's version