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.