ALMath: switch from std::deque to boost::circular_buffer

* Add dependency to boost

Change-Id: Iee068b2c0fb532f0d8aa7ef45fbe317442d4e805
Merge remote-tracking branch 'origin/master' into team/agility/dev
Motion: fix #9271 Walking in theta with a Nao can activate its own bumper

Dichotomie for bounding box collision returns the closser possible angle
that prevents the feet from collide.
Detects collisions with overlapping bounding boxes.
Uses Position2D instead of Pose2D for bounding boxes

Change-Id: Ied50d99240d3a4fa767c6e558fa8be7e7883f63d
add pointMassRotationalInertia

Change-Id: I85fe455189d1807508eb86c0db12ce0c295c3b2b
ALMATH: small cleaning

Change-Id: I16818939e2f5a0b3eab23a3600072061fecc2faf
Motion: Velocity3D operator*(const Rotation, const Velocity3D)

Change-Id: Ic615bc67ed3f81f71ae87ed4c91dce8262dd9f39
Merge "Motion: Velocity3D operator*(const Rotation, const Velocity3D)" into team/agility/dev
Merge remote-tracking branch 'origin/master' into team/agility/dev
Merge commit 'refs/integration/team/agility/dev-68'