add elastic dynamical system
Model base estimator fonctional before cleaning
code with error: begining of variable input size
Variable input compiling, before checking results
seems to work maybe an offset on the model 17/07/2014
Before changing method for contacts efforts
Add input reconstructor. Update the estimator.

Seems to work
Finish merging with Alexi's version
Merge pull request #1 from amifsud/master

Add model based flexibility estimation