Gain tuning
Merge branch 'rovereto' of https://github.com/robotology/codyco into rovereto

Conflicts:
	src/simulink/controllers/Rovereto2014/initRov14.m
Merge branch 'rovereto' of https://github.com/robotology/codyco into rovereto
Clean up the code for https://github.com/robotology/codyco/issues/31
Added some math functions to CoDyCo lib
Changed CMakeLists.txt
Renamed libCodyco to codyco-commons

https://github.com/robotology/codyco/issues/30
Fixed cmakes for codyco-commons lib
[adaptiveControl] add missing ctrlLib dependency
Gain tuning for balancing
Merge branch 'rovereto' of https://github.com/robotology/codyco into rovereto
Wrongly merged before
Checked out wrong version of the library from Rovereto
controller updated with new blocks and WBCLibrary lined up with Rovereto's