Added QP solver
Merge branch 'master' into firstYearDemo/qpImplementation

Conflicts:
	src/simulink/controllers/torqueBalancing/controllerSharedMem.mdl
working on QP with friction cones
Added constraints to forces
Added QP
Latest modifications for working demos codyco
Fixed some errors on balancing module
Added torque saturation in Adaptive Control Module
Enabled tests in repository
Added “stupid” test for correct pseudoinverse
Fixed tests cmake
AdaptiveControl: added minJerk on input frequency
Fixed configuration of adaptive control
Fixed frequency smoothing
Corrected references of adaptive control
src/modules/jointTorqueControl/app/conf/iCubGenova03_Conf_file_for_JTC_upper_body.ini
Merge branch 'master' of https://github.com/robotology/codyco into workingDemoCoDyCo
Removed  src/simulink/controllers/controllerDemoCodycoY1/slprj/
Some changes from branch 'workingDemoCodyco' to 'master'
Merge branch 'master' of https://github.com/robotology/codyco