Fixed getPointPosition behaviour, which was very misleading. Now it r…

…eturns a point in world coordinates.

Added control mode, any_map, tested and validated on different platfo…

…rms.

This second major beta relase brings minor bug fixes and a better man…

…agement of config files.

Fixed cmake-related issue which prevented XBotInterface from correctl…

…y exporting its dependencies.

Performance tuning (std::map replaced with std::unordered_map, perfor…

…mance improved was profiled and found to be ~20-30%).

Huge effort has been put to release the first beta of the XBot librar…

…y: hopefully everything is ok, but more realistically not.

updated srdf_advr namespace and using proper URDF and SRDF for the WA…

…LKMAN upper body

First working versione of the XBotInterface library.