Add joint velocity and acceleration limits
- ensure consistency between contact constraints' residual of first QP and successive QP's
- check that solution of QP's really satisfies the inequalities, if not stop the controller
Merge branch 'master' of https://github.com/robotology/codyco-modules

* 'master' of https://github.com/robotology/codyco-modules:
  Add new scope conf file for plotting joint vel