First implementation of coupled joints in jtc
first preliminary version of jtc with loading of coupling matrices from file
Added coupled joints handling
Added handling of coupled joints
Fixed bugs in loading of coupling matrices
Fixed coupling matrix in firmware
Added saturations on PWM in jtc device
First tuning on torso
Update CMakeLists.txt

Now it compiles independently
Merge pull request #81 from robotology/jtc_coupled_joints

Merge Jtc coupled joints