Remove FrictionLimits from master
Change GPL to LGPL
Change GPL to LGPL
Finishing removal of FrictionLimits scenario from master.
Constraints string for TOPPInstance have been updated. Propagating to ZMPTorqueLimits.
Propagation (continued)
Merge branch 'master' into unstable (keeping FrictionLimits of course)

Conflicts:
	FrictionLimits.cpp
	FrictionLimits.h
Added a brief way to test ZMP trajectories from string outputs