Expose the setMask and useLocalFrame for the TaskSE3Equality python

Avoid delegation costructor in Contact6d as it is a C++11 feature.

Expose TaskSE3Equality::useLocalFrame to python

Fix bug in python bindings of InverseDynamicsFormulationAccForce. The methods getContactForces and checkContact were assuming that the contact force vectors were always 12d. This was the case a while ago, but now TSID supports also 3d contact points, so this assumption does no longer hold in general. To fix the bug I have introduced a new method that allows the user to get the contact force vector without knowing its size in advance.

Fix small bug showing up only in DEBUG due to malloc being forbidden before potential resize of QP matrices in EiQuadProgFast

Fix small bug showing up only in DEBUG mode for an inconsistency in size of the Kp, Kd vectors in ContactPoint

Release of version 1.2.0.

as it prevents to make a release

Pinocchio v2, fix #31

Conflicts:
	src/robots/robot-wrapper.cpp

Conflicts:
	bindings/python/contacts/contact-6d.hpp
	exercizes/ex_1.py
	exercizes/ex_2.py
	unittest/tsid-formulation.cpp

Introduce weight for motion task associated to RigidContact. Specify weight (for both motion task and force regularization task) when calling addRigidContact rather than when creating Contact object (to be coherent with weights of other Task's).

- Will set up preprocessor directives
- Then pkg-config check as usual will find include directories, libraries, etc.