yarp_IMU_interface now does not wait on read
Fixed bug in yarp_IMU_interface introduced in last commit
Refactored getSimpleChainJacobian
changes in setImpedance, new convertImpedanceFromSI function
fixed a bug inside getControlTypes() : replaced std::vector reserve with std::vector risize.
Merge branch 'DRC_ninth_sprint_week' of https://github.com/robotology-playground/idynutils into DRC_ninth_sprint_week
removed old vocab_cm_modes and introduced new walkman_cm_modes
First commit towards ControlType refactor
comanutils and yarp_single_chain_interface use ControlType
Added RobotUtils, WalkmanUtils (which loads bigman).
Moved comanutils.cpp to ComanUtils.cpp
Added missing files. ComanUtils and WalkmanUtils have now public constructor (bugfix)
Merge branch 'ComanUtils_2_RobotUtils' into DRC_ninth_sprint_week

Conflicts:
	src/RobotUtils.cpp
Removed unused include pcl/io/pcd_io.h from convex_hull
Removed unused sac_segmentation include in convex_hull.h
Added another constructor
Added two missing returns.
Fixed some typos in error msgs.
Added verbose warning when compiling in Debug mode
Added isCompatibleWithInteractionMode in ControlType in order to be compatible with YARP specification about interactionMode.
Changed also the == operator implementation for the same reason.
Added setControlType function for all the chains in the robot.