simple computed torque module added
Merge branch 'master' of https://github.com/robotology/codyco
Added print for external forces post calibration in wholeBodyDynamicsTree
Apply randaz filter to imu angular velocity used in calibration and print estimated sensor values
[wholeBodyDynamicsTree] more debug in calibration
Add brief sanity check for iDynTree
Added debug in calibration for wbdTree
Added RPC connection in wbi actuators to communicate with external torque control module. (Automatic Start/Stop)
Added configuration variable to enable module autoconnect. Default to true.
Removed `#define` directive left in the code
Changed documentation
new test
Added validation on the newly added parameter
Changed reading of strings in simulink WBI-T
Conf file for JTC whole body
Added joint torque control configuration file for simulator

Joint Torque control in impedance mode: it now resets the desired configuration at every start command
Merge branch 'feature/autoconnectWBI2JTC'
Add urdf support to wholeBodyStatesLocal
Added a check on control mode before sending start to the joint control module
Changed iDyn constructor