Fix Frictionlimits.cpp and Frictionlimits.h
Merge branch 'master' into unstable (keeping FrictionLimits of course)

Conflicts:
	FrictionLimits.cpp
	FrictionLimits.h
Added a brief way to test ZMP trajectories from string outputs
Extra soundness check for new param
Merge branch 'master' into unstable

Conflicts:
	ZMPTorqueLimits.cpp
Replacing broken test with a working one.
Get support foot as an input
Merge branch 'master' into unstable
Add FrictionLimits into TOPPbindings.cpp
Add VIPBackward to TOPP
Remove FrictionLimits in bindings
Large code review
Merge
Clean up