[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

This is almost like the previous commits.
The difference is that the part corresponding to the specialization
of the code is templated (and not exported).
So as to reuse this code, it has now be moved into a .t.cpp file.
The integration-*.cpp file now only contrains the definition required
by the library.

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