move input definitions to the class which use them
Merge pull request #4 from amifsud/master

adding measurement of computation time
Correct the measurement dynamics
Add efficient sign function
Correct  computation time measurement
Check if the file is open for reading it
improve readability and interface of the test
Initialize stiffness and damping
Better unit testing for the model based reconstructor
Changing model for moments and damping of the elast pendulum contact model
merge from stack-of-tasks/state-observation