changes in setImpedance, new convertImpedanceFromSI function
fixed a bug inside getControlTypes() : replaced std::vector reserve with std::vector risize.
removed old vocab_cm_modes and introduced new walkman_cm_modes
First commit towards ControlType refactor
comanutils and yarp_single_chain_interface use ControlType
Merge branch 'controlType_refactor' of https://github.com/robotology-playground/idynutils into controlType_refactor