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
Debugged argument number miss in setupController for TwoDofControllerDynamicsModel
Renamed sin -> sinh
Fixed default tauMax from model. climit -> climit*gearRatio*torqueConst
Modified some comments
Merge pull request #250 from orikuma/dynamics-torque-controller

Added Spring-Damper-Inertia Model for MotorModel in TorqueController