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ref https://github.com/stack-of-tasks/sot-core/issues/58

All the work (using boost::assign) was already done.
This commit is just making sure that it compiles in 16.04 LTS.

* [filter-differentiator] Simplify API and update documentation

* [joint-trajectory-generator] get output for when all trajectories have ended

* [joint-trajectory-generator] correct message in istrajectoryended

Fix creation of RobotUtil outside of control-manager.
Fix unit tests (wrong orientation)

Makes RobotUtil shareable across several classes.
Implements the initialization of RobotUtil in controller-manager.
Implements ForceUtil and ForceLimits
Implements display for ForceUtil, ForceLimits, and RobotUtil.
Access to the subsequent commands can only be done after entity initialization.
Changes should be reflected on the other entities.