The rightHand info was always the identity matrix.
Directly use the getHandParameter and remove
unnecessary intermediate operations.

  createOpPoint command with a valid name ("waist", "left-wrist",...) not
  set produced a segmentation faullt at signal recomputation due to access to
  a null pointer.

  Compute zmp from force sensors in the feet.

  Some initializations that used to be performed in this package were in fact
  application dependent. These initializations have been moved to the new
  package sot-application.
  - class solver has been removed,
  - features and tasks are not created anymore in AbstractHumanoidRobot class.

This commit remove files and references which are now in different packages.

  To trace all default signals, call AbstracHumanoidRobot.traceDefaultSignals
  method.

  This file is now defined by package sot-hrp2.

    This task contains the center of mass and ankles features.

Correct issues with filesystem.

The code can now compile without.

    Both methods take a task as input and forward to Solver.sot.

This does not affect the compilation on Ubuntu 10.04.

This reverts commit 52c7440e.