Add getters

For actuatedDofs, joint limits, inertia matrix,
non linear, gravity terms, segment velocity
Add getSegment to get a KDL::Segment of the robot
Add orckukakdl library
Fix orc model
Merge branch 'master' into orc

Conflicts:
	include/kukakdl/kukakdl.hpp
	include/kukakdl/kukakdl_const.hpp
	src/kukakdl.cpp
	test/testkukakdl.cpp
Fix number of segment for orcmodel
Change base frame of segment jacobian to comply with orc
Change expression frame of getSegmentVelocity in orc model

Now the twist is expressed in the segment frame