- Implement postural task (for joints only, no floating base)
- Implement hierarchy of tasks
- link solver variables to parameters (useNullspaceBase, numericalDamping)
- add Logger class to add print in solver
- add “sample time” of trajectory generator as input parameter of Task constructors
- add “init” method to Tasks and solver for initializing trajectory generators
- change type of return variable of methods getPos/Vel/Acc of MinJerkTrajGen (likely the type Eigen::Ref is not suited for return values, so I used const VectorXd&)
- fix bug in posture task update method
- initialize solver during control thread initialization
- add assert to check sizes in method getEquality/Inequality Matrix/Vector
- Big bug fix: derivative gains were not initialized!
- multiply posture gains times pi/180 to avoid using very small gain values
- Big bug fixes in solver:
	- missing initialization of ddqDes
	- wrong sign in update of ddqDes based on ddq_jDes
	- introduce damped pseudo inverse resolution
- check that dynamics and contact constraints are satisfied by final solution
Fix BIG bug in formulation of QP solver for computation of desired contact forces!
- fix bug in computation of desired acceleration of posture task (feedforward acceleration was not converted to rad)
- add computations to debug solver
- introduce constant REAL_TIME_FACTOR to try to compensate for the nonreal-time simulation (still to investigate how this affects trajectory generators)
- increase TAU_MAX from 20 to 200 to allow higher torque commands
- use gazebo time to synchronize controller with simulator
- do not use encoder timestamps because they give real time rather than simulation time (TODO: open issue on github and mention also segfault on mutex on module closure)
- move ToString methods in Logger file to make them available everywhere
- add parameters for task derivative gains, com ref, com vel, momentum
- add derivative filter for CoM velocity (debugging)
Merge remote-tracking branch 'origin/superbuild' into superbuild