removing obsolete atlas control modules
adding new atlas control component classes
adding controller data handle classes for sharing data between control modules. better than shared data handles because you can clearly describe what fields are necessary and optional
updated QPController class in both matlab and c++: removes atlas-specific code, supports angular momentum as an option, supports body acceleration inputs as constraints or costs
updating atlas balancing example
renamed controlUtil.h, moved templates and function implementations to cpp file
adding missing documentation
making ControllerData a child of SharedDataHandle
minor fix to comment
making controlUtil a shared library
moved implementation of getRows and getCols to controlUtil.cpp
moving eigenToMatlab function to QPControllermex.cpp
Merge pull request #207 from kuindersma/update-qp-controller

Update QP controller