[cmake] disable verbose message that you get when using wholeBodyInterface in another project
add method to rotate matrix in place
Added new JOINT_FORCE_TORQUE_ESTIMATE estimate type
Merge branch 'master' of https://github.com/robotology-playground/wholeBodyInterface
Added RPATH support
Update iWholeBodyModel.h
Updated RPATH relative directory
Added first implementation of new ID representation
Converted functions intended to be used at runtime to use numerid ids
numericIdtowbiId -> numericIdToWbiId
added some docs
Merge branch 'new_wbi_ID' of https://github.com/robotology-playground/wholeBodyInterface into new_wbi_ID

Conflicts:
	include/wbi/iWholeBodySensors.h
	include/wbi/wbiUtil.h