fix camera frame reorientation for hrp2_10 and hrp2_14 close #7

fix missing matrixToTuple function for hrp2_10 close #5

add camera frame in hrp2_10 close #3

Otherwise, there will be issues due to pkgdatarootdir.

If the two vectors have a different sizes this crashes.

The solver has been moved into another location.

Basically does nothing. Probably the system should send some message,
but for geometrical test of the robot behavior this will generate too much
unwanted error messages.
A proper way would assume level of debug messages according to the context.
Here we keep it simple.

  Application dependent initialization have been moved to a new package called
  sot-application.

  Moreover, it makes debugging cumbersome.

The ros spinner is now multi-threaded. The interpreter and the ros-node
are NOT anymore started in the main thread (breaking ART).

  User should set his own gain after initialization.

  Three data files are generated to be read by entity Seqplay in sot-tool:
    - posture,
    - leaf ankle,
    - right ankle,
    - center of mass,
    - expected force in left foot,
    - expected force in right foot.

  - accelerations in "accelerometer" signal,
  - angular velocities in "gyrometer" signal.

  Head of master does not succeed in compiling. Stop at last version that
  makes the package compile.

  Do not hard code prefix of dependency, use pkg config.