Modified m_loop type int -> long long
Added TwoDofControllerDynamicsModel, using dynamic model based on equation of motion
Added TwoDofControllerDynamicsModel option to initialize process in TorqueController
(AutoBalancerService.idl, AutoBalancer.*, GaitGenerator.*, testGaitGenerator) : Enable to configure swing orbit type
(StabilizerService.idl, Stabilizer*.*) : Add getParameter function for stabilizer parameter
added setTargetPoseMatrix functions
Merge pull request #239 from snozawa/update_abc_st_idl_tmp

Update AutoBalancer and Stabilizer IDL
Debugged argument number miss in setupController for TwoDofControllerDynamicsModel
Use boost library for copysign because copysign in cmath only can be used in C++11 later
Renamed sin -> sinh
Merge pull request #245 from orikuma/fix-motor-torque-controller-namespace-bag

Fix TorqueController compile error in QNX
Merge branch 'master' of github.com:fkanehiro/hrpsys-base into matrix_interface
(GaitGenerator.*) : Fix bug of swing foot calculation and add reset orbit
Merge pull request #246 from snozawa/fix_swing_foot_calculation

Fix bug of swing foot calculation and add reset orbit
(hrpsys_config.py) : Add logger connection for walking RTCs
Merge pull request #247 from snozawa/add_logger_ports_for_walking

Add logger connection for walking RTCs
Fixed default tauMax from model. climit -> climit*gearRatio*torqueConst
Modified some comments
(Stabilizer.cpp) : Use :end_effector instead of link origin in IK and fix mode transition
Merge pull request #250 from orikuma/dynamics-torque-controller

Added Spring-Damper-Inertia Model for MotorModel in TorqueController