[eigen] Replacing jrl-mal with eigen. Removed solvers sot-h, weighted-sot, solver-hierarchical-inequalities.

>Todo: computederivation template specialization for vectorquaternion in derivator.h
>Removed solvers
>does not build

To this purpose, add a specification for the class derivator.
For unix systems, this only comes down to creating a typename.
For win32 systems, the idea is to create a class that will
 inherit the specification and be exported.

       move some headers from include/sot-core to include/sot/core.

* ExceptionTools
* ClampWorkspace
* BinaryIntToStrawberries
* ComFreezer
* Kalman
* Mailbox
* Microwave

* Checked compilation