Fixed missing assingments in switchWorld(). Cleaned code. COmmented aout and deleted some useless print
Removed unused include pcl/io/pcd_io.h from convex_hull
Removed unused sac_segmentation include in convex_hull.h
Added more tests for anchor switching
Added setFloatingBaseLink and switchAnchorAndFloatingBase in idynutils
Merge branch 'DRC_ninth_sprint_week' into switchAnchor

Conflicts:
	include/idynutils/idynutils.h
	src/idynutils.cpp
Deleted simple chain jacobian
Added new test to check setFloatingBaseLink
Updated parametric test to check CoM consistency between models by adding KDL and YARP versions of getCOM
Fixed a mysterious bug caused by Maroon 5
merge
Implementation that was lost with last merge...
Cleaned up RobotUtils include. Added walking test for idynutils. Added test  stub for RobotUtils
Added RobotUtils test.
Merge branch 'switchAnchor' into DRC_ninth_sprint_week
Remove duplicate getRobotName in idynutils