test CoM
Merge branch 'master' of https://github.com/robotology-playground/codyco-isir

Conflicts:
	modules/basicWholeBodyControlModule/src/orcWbiModel.cpp
	modules/basicWholeBodyControlModule/src/orcWbiUtil.cpp
	modules/basicWholeBodyControlModule/src/orcWbiUtil.h
	modules/basicWholeBodyControlModule/src/thread.cpp
test CoM
Merge branch 'master' of https://github.com/robotology-playground/codyco-isir

Conflicts:
	modules/basicWholeBodyControlModule/src/orcWbiUtil.cpp
	modules/basicWholeBodyControlModule/src/orcWbiUtil.h
	modules/basicWholeBodyControlModule/src/thread.cpp
add jacobian transformation
fix CoM and segment related computation problems