In this commit a test simulink model shows matching torques between gazebo and those computed with inverse dynamics
all dynamics blocks are now parametric. When the position of the base is not passed to the block, it will make the computations inside. Still, base velocity and accelerations must be passed to the corresponding blocks.
Joint limits added
adding new block for angular momentum
Many warnings removed and updated parametric blocks plus the addition of compute angular momentum
added TODO
Fix bug in monitor variables and reintroduce impedance control and sinusoidal reference
Added CoDyCo library
Modified wholeBodyDynamics blocks
commits for proper merge
Merge remote-tracking branch 'origin/rovereto' into simulink/paramInvDyn_forReal
Commit to test acutators
Commit test for actuators
Implemented the discussion in https://github.com/robotology/codyco/issues/18 for actuators.

Updated command map to be an instance variable instead of a local function variable (in this way I can create it using new)
Gain tuning
Merge branch 'rovereto' of https://github.com/robotology/codyco into rovereto

Conflicts:
	src/simulink/controllers/Rovereto2014/initRov14.m
Added joint inversion for torso
Merge branch 'rovereto' of https://github.com/robotology/codyco into rovereto
some debuggin and ICUB_FIXED set by default
Merge remote-tracking branch 'origin/rovereto' into simulink/paramInvDyn_forReal