Moving and renaming
Change sensor, state and actuator interfaces

- generalize sensor interface to make it scale better with respect to
the number of sensor types
- modify accordingly state interface
- change actuator interface to reduce the number of methods
- adapt locomotionControl and wbi test
Clean up code of wbi(Icub)

- add file wbiIcubUtil.h
- remove useless include
Add virtual destructors to abstract classes

I added a virtual destructor to all the classes defined in
wholeBodyInterface so that the implementations of these abstract classes
can redefine the destructors.
Little changes to wbi

- add check on PWM motor control  and force/torque sensor reading for
simulator (simulator does not implement pwm motor control and F/T
sensors)
- add function globalToLocalIcubId() to convert iCub joint local ids to
iCub joint global ids
improvements of wbi and iCub wbi

- improve documentation
- fix some bugs (on simulator)
- add estimate types: motor pos, motor acc, motor torque (currently
implemented to be equal to joint pos, joint acc and joint torque)
Add new features to WBI

- add torque derivative estimation
- add conversion from joint name to wbi joint id
Just comments
Fix a couple of bugs on Linux
Add method IWholeBodyState::setEstimationParameter

- this new method can be used to tune hyperparameters of the estimation
algorithms (e.g. moving window sizes, filter cut frequencies).
- make methods get***List return by const reference rather than by copy,
so that it's more efficient
- add 1st order low pass filter to joint/motor torque estimation
Improve documentation of wbi model interface
First version of icubWholeBodyStatesLocal compiling
added IMU estimate
WholeBodyInterface: added offset control parameter to Actuators.
Implemented set pid gains (p,d,i) and offset for torque control (currently only for single joint is implemented. Setting all joints will return false)
Added support to external torque control module in iCubwholeBodyActuators through the use of configuration parameters
Refactor for computing mass matrix
Modification to compile with stub functions for mass matrix and bias forces
Implementation of computeGeneralizedBiasForces
Merge branch 'master' of https://github.com/robotology/codyco

Conflicts:
	src/libraries/wholeBodyInterface/include/wbi/wbi.h
	src/libraries/wholeBodyInterfaceIcub/src/icubWholeBodyModel.cpp
Commit first implementation of massMatrix in wbi (still untested)