(RatsMatrix) : Add mid_rot to interpolate matrix33
(hrpsys_config, AutoBalancer) : Input references from StateHolder for AutoBalancer
(hrpsys_config, AutoBalancer) : Refine data ports. Remove unused qCurrent and rename in-out data ports.
Merge pull request #379 from snozawa/input_stateholder_reference_to_abc

Input stateholder reference to abc