cartwheel: determine which contacts are active for each foot
cartwheel: minor fix
mechsim: fix compilation issues, use Eigen 3.2.0
mechsim: add ODE::BodyAddForce() wrapper function
cartwheel: remove old test
cartwheel: make sub-controllers return JSpTorques, add them afterwards
cartwheel: use center of pressure to limit virtual root force
cartwheel: re-enable foot collision as default
cartwheel: introduce CWConfig class for (static) controller parameters