Add two new versions of eiquadprog. EiquadprogFast is a slightly optimized...

Add two new versions of eiquadprog. EiquadprogFast is a slightly optimized version of the original solver that preallocate all the dynamic memory. EiquadprogRT (i.e. real time) is a version of the solver that uses static-size matrices. Both new versions have also much more documentation and provide more information to the interested user, such as number of iterations, number of active inequalities, maximum number of iterations and proper status flag in case the problem could not be solved.