[Contacts] Add force upper bound (fMax). Modify force lower bound so that it is imposed on the sum of the forces rather than on the 4 individual forces.

[test hqp solver] Change number of equality constraints from 18 to 36 to match size of problem on HRP-2

inv-dyn-form-acc-force] Fix bug occurring when removing a contact constraint: the inequality constraints on the associated forces were not removed.

Fix bug in removeRigidContact: I was not updating the indexes of the contact variables. Optimize matrix multiplications adding noalias.

Minor improvement to eiquadprog solvers: check problem size, remove useless variables, add comments.

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.

[solver-HQP-eiquadprog] Make Hessian regularization more explicit in the code. Add commented draft code to handle equality constraints outside solver.

[robot-wrapper] Account for rotor inertias in inertia matrix; by default rotor inertias are assumed to be zero.

Add com-equality-task. Add unit tests for com-equality and se3 tasks. Add functions to compute pseudo-inverses.

Preliminary version of the library (not working yet). In this version I just implemented the constraints, the constant trajectories, the robot wrapper and the task SE3 equality.