Started implementing interfaces for yarp of Cartesian tasks
Added test for YCartesian.
QPOases_sot now has a Ptr
Now Aggregated.h has Ptr
JointLimits and VelocityLimits have Ptr
CoMVelocity and ConvexHull have Ptr
Cartesian includes a feed-forward term, in a hackyish way
Added set reference to Ytask
Added YCartesian + test
Changes following drc_shared commit 410a8c6
Added initial print
Implemented the feed-forward velocity in the cartesian task in a safe way.

Now the Cartesian task accepts velocity references via the method:
setReference(desiredPose,desiredVelocity)
the old method setReference(desiredPose) sets the desired velocity to 0.
Also a getter method for the new desired velocity has been implemented
getReference(desiredPose,desiredVelocity)
Notice how the _update(x) now also resets the desired velocity for safety reasons.
TO use the feedforward term it is necessary to call a setReference
for each call to _update(x).
A possible bug has been corrected where calling setLambda caused the
desired velocity term to be miscomputed when called after setReference.
Merge branch 'devel_cartesian_has_feedforward' into DRC_eighth_sprint_week
Fixed conflicts due to the recent changes of idynutils where coman_iDyn3
has been renamed to iDyn3_model, and orientationError has been renamed to
_orientationError

Conflicts:
	src/tasks/velocity/Cartesian.cpp
Added Yarp interface for CoM task. Changed tests in python to be compatible with the new interface. Added re initialization of the problem in the solver when hot start fails. Added get/set of base/distal link in CoM task.
Commit following drc_shared 39a5f1c34 which requires the module to set manually control mode
Added yarp_twist_msg. Added twist_msg in trj_msg. Improoved test for YTask
Deleted python folder since it is present in sot_velkincon
Merge branch 'DRC_eighth_sprint_week' into devel
Fixed bug that was causing the update of the Constraint matrix with column/rows inverted. Moved the assignment of the bounds in expandProblem(i) method
for little performance improovement (and readability). CHanged return of prepareSoT() method to return the result of the various expandProblem() and addBounds() (before it was returning
always true. Added getTaskID() method to QPOasesTask class. Commented a print line in testYCartesian.
Added python path for YTask