Refactoring of mex library and controllers

[gabrielenava]

I think it's time to finally merge into master. I created the recovery branch, I moved the controllers into another branch (also to avoid having the meshes, that are still around 12 Mb, in more than one branch. I will update the changelog after merging (I want to add some paths so it is useless to do it now). Controllers, examples, and tests have been updated. All ctests passed. I will also close the other pull requests since they are no more necessary (this branch contains the WBM-Class) and some issues. @Ganimed @traversaro

[traversaro]

55000 lines additions... O_o

@gabrielenava Please use a more expressive PR name, Update repo does not convey a lot of information to the reader (all PR could be named "Update repo", and I think having a huge list of PR name "Update Repo" would not be really helpful).

[traversaro]

Regarding the meshes, consider that their are now part of the history of the repository regardless of the branch in which you put them (see https://robinwinslow.uk/2013/06/11/dont-ever-commit-binary-files-to-git/). Furthermore, please avoid moving the controllers in another branch unless strictly necessary: moving them to a different branch would only complicate the life of people that want to use them, and would increase the change that they go out of synch w.r.t. to the master branch.

[gabrielenava]

Controllers restored. It is true there are a lot of lines of addition, but consider there's the entire WBM-Class in this repo now so I think this is the reason

[Ganimed]

@gabrielenava & @traversaro: Yesterday and today I have made some changes in the utilities functions and some adaptions to the latest requirements and pushed it on the WBM-Class. I did not recognized that you have already merged it in the forenoon and I have thought that we are merging together. However, @gabrielenava I have added new functions to the utilities and renamed some of them to be more name uniformly. Following important functions I have renamed:

• dQuat --> dquat,
• dEuler --> deul,
• getJointAnnotationNameICub --> getJointAnnotationICub

and some others. That we are equal you have to merge again and make some small renamings. I will go soon to the Institute. See us there.

[Ganimed]

P.S. From my side everything is done now. I will not make any new changes (names, etc.), only bug-fixes.

[traversaro]

If you plan to change the ChangeLog.md and tag the various release afterwords, for me the PR can be merged.

[gabrielenava]

Ok, I will add the last modifications that @Ganimed did and then merge the repo

[gabrielenava]

ready! merging