Improve documentation of paramHelp library
Fix error in function documentation.
Just remove a commented line
removing useless stuff

Cleaning motorFrictionExcitation module from useless stuff of
locomotionControl (which was the code I started from).
Updates for torque-control mdule
Little changes to wbi

- add check on PWM motor control  and force/torque sensor reading for
simulator (simulator does not implement pwm motor control and F/T
sensors)
- add function globalToLocalIcubId() to convert iCub joint local ids to
iCub joint global ids
Big changes to paramHelp library

- fundamental change to paramHelp library: replace ParamDescription with
ParamProxy (the main difference being that ParamProxy manages also the
memory linked to the parameter)
- update locomotionControl, locomotionPlanner and
motorFrictionExcitation modules accordingly
- implement motorFrictionExcitation module and test it on simulation
Merge branch 'master' of https://github.com/robotology/codyco
Merge branch 'master' into paramHelpExtension
Integrate new paramHelp lib in jointTorqueCtrl
Fix warnings
Remove debug print in paramHelp lib
Fix compilation errors on Linux
Fix for compatibiliy with yarp 2.3.20 last available release
Fix for yarp 2.3.20 compatibility
Fix for yarp 2.3.20 compatibility
Fix for yarp 2.3.20 compatibility
fix for yarp 2.3.20
Fix for yarp 2.3.20 compatibility
Add monitoring out port to paramHelpServer

This new port outputs all the parameters of type "monitor" in a flat
Bottle, so it can be used with the current version of YarpScope to plot
parameters. The output streaming port instead cannot be used with
YarpScope because the output Bottle has a nested structure.