Conflicts:
	src/factory/pool.cpp

    Replace sotPool by call to static method getInstance.

    The double definition of some classes implies double free error at end
    of session.

    These two modules are incompatible in the sense that if both are imported,
    there is a double free error at exit. This might be due to the double
    definition of some template classes.

    replace g_pool and g_factory by PoolStorage::getInstance and
    FactoryStorage::getInstance calls when necessary.

     Fill matrices with 0. after resize in MemoryTaskSOT::initMemory (only at
     construction).

    Entity should never be created as a variable but allocated with operator
    new. Do not delete them since the pool destructor will do it.

    Add a test to validate MatrixHomogeneous.

    This new entity is a feature. As such, it can be inserted in a task without
    using an extra FeatureGeneric. It is intended to replace PostureError in
    sot-motion-planner.

    Correctly take into account the possible difference of size between control
    and configuration.