Mod checked, Con comparison, MOOGA specialization

* CompassBiped
Corrected a minus sign in damping equation. Quadruple checked dynamic
and impact equations.

* ModelVer
Verified the CB model once more. Added some equations for energy
analysis. Too many variable to reach a good conclusion.

* Controller
Updated the implementation for generating and plotting the torque signal
from the controller (EXT PULSE IMPLEMENTATION STILL NEEDED).

* GetTopPop
Implemented "JOAT" (Jack Of All Trades) to find a middle ground between
the single fitness elitism of the Pareto front and the "weighted
elitism" of Sum(w*Fit).
3 options implemented:
- 1: normal Pareto front
- 2: first front + remaining fronts from best population quantile.
- 3: all fronts from best population quantile.

* InitGen
First implementation of "inter-MOOGA" compatibility. When copying
genomes from a different MOOGA, only the intersection of fitness
functions is copied to the appropriate place.

* MOOGA
Corrected the implementation of SlopeFit (for the last slope).
Implemented a GetFitFcnName method to get the name of a fitness function
from its handle.

* Pareto
Now Data should be provided with a unique ID outside of Pareto.
Added a pre-implementation for an additional JOAT option: Removing
minimal values from the "inverse" Pareto fronts, i.e. Maximize VS
Minimize.

* Quantile
Implementation for removing "low hanging fruit", i.e. keeping only the
top quantile individuals that did well in several fitness tests and not
just a single one.

* MOOGA/Run
Corrected implementation of ZMPFit to find the ID of the up/downslope
fitness first (instead of defaulting to 4, 5.

* RunSeq
Added some backward compatibility for old fitness function handles.

* CheckConvergence
Corrected a bug where the sim would stop (converge) if doGoNoGo is 1,
although the sim was set to run indefinitely.

* Simulation/Run
Corrected a bug with duplicated torque outputs.

* Simulation/Simulation
Added backward compatibility for the new controller thresholds.

* GA_ROBIO
New MOOGA using optimization values from the ROBIO paper.
Improved Quantile and new Mimicking implementation

* .gitignore
Added some .mat files

* Controller
Added CompareSigs method to compare between the signals of 2 controllers
(should be the same length). The comparison is calculated as the
integral of abs(Sig1-Sig2) over T.

* Controller/MimicGains
Updates the controller's gains to mimic the torque signals of NCorig at
a certain slope. First the frequency is copied and then the amplitudes
are adjusted (this can be done with several methods but none is 100%
effective since the offset and duration of each pulse are not modified).

* Genome/Mimic
Uses Con.MimicGains so Seq1 mimics the output of Seq2 at a certain
slope. NOT FULLY IMPLEMENTED YET.

* Analyze
Added some post-analysis code to sort out the slopes+data (ascending
from negative to positive slopes).

* Pareto
Added an option to request a single front (or n fronts) to reduce
computations when not all fronts are needed.

* Quantile
Added a new method to remove the lower quantile that seems to work
nicely when the data is "sparse": delete IDs that scored 0 in several
categories (but save the first Pareto front of them, thus preserving the
maxima). From the last group (those that scored 0 in m categories and
would surpass the number of IDs that need to be discarded) we remove IDs
from Pareto fronts until just enough IDs are left in the group.

* GA_ROBIO
Reduced the mutation deltas (init and final) to see if fitness values
increase earlier (early generations).
(ALSO tried using "inverse" Pareto fronts but that didn't seem to work
well)
Merge branch 'Analysis' of https://github.com/lothas/CB_sim2 into Analysis

Conflicts:
	@CompassBiped/Model.mn
Fix merge conflict in Analysis