Merge pull request #137 from shadow-robot/F_standalone_wrapper

Fixes  #136 Self standing hand lib (IFMA) - hides ROS
IFMA fixes
Pimpl doesn't like smart pointers back to dumb ones.
implement change controllers apart from control type
final version of ifma
merge
fix
-added send all positions and torques functions
-bug fix send position in radians
ups
-separate joints that can be controlled from joints that report their state
-Constructor that does not take the main function arguments
-report state for zero joints
-fix segmentation fault
Merge F_ifma_upgrade into indigo-devel

Conflicts:
	sr_standalone/include/sr_standalone/shadow_hand.hpp
	sr_standalone/include/sr_standalone/sr_ros_wrapper.hpp
	sr_standalone/src/sr_ros_wrapper.cpp