Added QP solver
Merge branch 'master' into firstYearDemo/qpImplementation

Conflicts:
	src/simulink/controllers/torqueBalancing/controllerSharedMem.mdl
working on QP with friction cones
Added constraints to forces
Added QP
Merge branch 'firstYearDemo/qpImplementation'

Conflicts:
	src/simulink/controllers/torqueBalancing/controllerSharedMem.mdl