Upgrade to new version of hpp-core using fcl.
Fix doxygen dependency between types and shared pointers to types.
Documentation for the hpp-wholebody-step-corba mainpage
Update dependency version numbers before release.
Modify error handling in Corba requests

  - throw exceptions instead of returning -1.
  - exceptions are propagated to the client.
Enhance documentation.
Reorganize idl interface

  - Rename hpp::WholeBodyStep into hpp::corbaserver::wholebody_step::Robot.
    rework python stubs by a local script src/omniidl.sh.