[eus_qp/optmotiongen] dynamic motion generation with bspline

[mmurooka]

Generate dynamic motion with sqp optimization. Motion trajectory is represented with bspline. Main file for this feature is bspline-dynamic-configuration-task.l. Manual with formula explanation is in Sec. 4.3 of manual.pdf. Samples with irteus sample-robot and HRP2 are added. Sample-robot one is executed in travis test. Currently, angular momentum from joint motion is not considered correctly, ref :ang-moment-instant-task-value method doc. Also, optimization does not converge well, especially contact transition is complicated (such as motion with hand contact).

Other modifications:

• change drawing color of friction cone from white to yellow for visibility: https://github.com/jsk-ros-pkg/jsk_control/commit/ece5d5694eb2dfa25c87f054b54847c5cbbf6ee9
• add sample of instant-manip-configuration-task and bspline-configuration-task with irteus sample-robot and call them in travis test. Now almost codes are tested in travis: https://github.com/jsk-ros-pkg/jsk_control/commit/b5449b48ac44d2a0f78d57003c8176d6f72e254e
• install eus_qp/optmotiongen directory: https://github.com/jsk-ros-pkg/jsk_control/commit/26d59fbbf4df9d0bc8737302bd606b7e8aa29647
• add look-at-contact class to enable look-at in ik (example): https://github.com/jsk-ros-pkg/jsk_control/commit/94c26c42d3ac0363b8fd0f7e251a9b34d80c7b98
• use new methods in https://github.com/euslisp/jskeus/pull/528 for irtviewer floor setting: https://github.com/jsk-ros-pkg/jsk_control/commit/6aaa32115f65c0d8197610377a58a6f577feb2e7
• fix rostest name to suppress warning in travis test: https://github.com/jsk-ros-pkg/jsk_control/commit/294df20d940d2bd9b9b182e89c457f1a753bd131