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
Latest modifications for working demos codyco
changed name of wbInterfaceNEW into wbInterface and removed the old one
Changed WBI-T Simulink flag's name from SIMULINK_LIBRARY to CODYCO_USES_WBI_TOOLBOX
Removed forgotten print in minJerkTrajGen
Changed name of startup_wbclib into startup_wbitoolbox
Changed Toolbox name into WBIToolbox
modified accordingly slblocks to comply with the new name of the library
Changed toolbox name written in startup file
Changed FindMatlab.cmake to find also Matlab R2013a
removed unnecessary printf
New icons for latest version of the toolbox
New icons added
Deleted old images
Removed old unused flags
Merge remote-tracking branch 'origin/master' into simulink/ICRA2014