First commit for torque balancing module
Added a reference class
Working on trajectory generation
Worked on ReferenceGenerator class.
Fixed linking in codyco-commons

Added main library include file.
Added LockGuard utility function
Added documentation to Reference class (to be renamed?)

Migrate locks to codyco-commons LockGuards.
Added some logic into TorqueBalancingModule
Added pseudoinverse with Eigen::Ref parameter type.
This kind of object makes the function less generic w.r.t. its scalar type (only double are supported for now), but it allows better temporary object management and also the use of matrix blocks as argument.
After we will test it, we should see if we can keep both function (generic and Ref type) without signature collision..
Started migration to dynamic size matrices.
Currently the code still uses static size, but I will switch to dynamic matrices.
Changed skew-symmetric function to use Ref object.
Disable travis compilation on branch module/torqueBalancing
Fixed compile errors
Added some parameters (using paramhelper) to TorqueBalancing Controller
Merge branch 'module/torqueBalancing' of github.com:robotology/codyco into module/torqueBalancing
Added bindings for rpc variables in module
Added documentation to some functions.
Added command handling in module
Added missing initialization to some variables.
Cleanup some code.
Merge branch 'master' into module/torqueBalancing

Conflicts:
	src/libraries/codyco-commons/CMakeLists.txt
	src/simulink/controllers/torqueBalancing/controllerSharedMemFast.mdl
	src/simulink/libraries/wbInterfaceNEW/src/wbInterface.cpp
Enabled compilation on branch module/torqueBalancing on travis-ci
Fixed issue after merge.
Update .travis.yml

Added ppa for eigen
Update .travis.yml

Changed from `libeigen3-dev` to `eigen3`
Added computation of world to base transformation frame