Added code to sot-dynamic

doc/package.dox.cmake

doc/pictures/footer.txt

include/sot-dynamic/angle-estimator.h

include/sot-dynamic/dynamic-hrp2.h

include/sot-dynamic/dynamic.h

include/sot-dynamic/force-compensation.h

include/sot-dynamic/integrator-force-exact.h

include/sot-dynamic/integrator-force-rk4.h

include/sot-dynamic/integrator-force.h

include/sot-dynamic/mass-apparent.h

include/sot-dynamic/matrix-inertia.h

include/sot-dynamic/waist-attitude-from-sensor.h

include/sot-dynamic/zmpreffromcom.h

sot-dynamic.pc.cmake

src/CMakeLists.txt

src/angle-estimator.cpp

src/dynamic-hrp2.cpp

src/dynamic.cpp

src/force-compensation.cpp

src/integrator-force-exact.cpp