Removed ICUB_DOF defined in the header and the massMatrix variable is now initialized dynamically by the robotStatus class once ROBOT_DOF is obtained from the configuration file
Merge branch 'new_wbi_ID' of https://github.com/robotology-playground/WBI-Toolbox into new_wbi_ID

Conflicts:
	libraries/wbInterface/src/wbInterface.cpp
Added various bug fixes