Fixed jacobians in torqueBalancing
Added thread synchronization in torque module
Changed function signature and added debug calculations (currently commented)
Merge branch 'master' into superbuild

Conflicts:
	src/libraries/iDynTree/src/DynTree.cpp
	src/libraries/wholeBodyInterfaceIcub/include/wbiIcub/wholeBodyInterfaceIcub.h
	src/libraries/wholeBodyInterfaceIcub/src/icubWholeBodyInterface.cpp