Use root-link's orientation for computing desired derivative of angular momentum (rather than torso's orientation)
BIG CHANGES TO SOLVER:
- add control law MomentumSotSafe, which considers the joint limits when computing the contact forces
- move resolution of QP and equality constraints inside class QpData
- change definition of inequality task so that it matches the standard of EigQuadProg (i.e. Ax+a>0)
- allocate one QP for each task