Add a ISIRController member and update test
Handle New Full state acceleration task
Add updateTask if a task already exists
Parse qd, qdd and tau for Fullstate tasks
Update objectives if a fullstate task already exists
Complete printFullstateDesc
Check vector size while parsing fullstate objectives
Add PartialTask support for acceleration
Factorize fullstate objective parsing
Add torque task support for full/partial tasks
Add XML specification in README.md