Added IMU Stabilization to the Gaze Controller

[pattacini]

This announcement is about the new feature of the gaze control we have been lately working on, which is now available in our repositories.

We managed to integrate the work of @alecive on gaze stabilization inside the iKinGazeCtrl controller. The work is described in this paper: "Gaze stabilization for humanoid robots: A comprehensive framework".

The tutorial has been extended to include all the code details: http://wiki.icub.org/iCub/main/dox/html/icub_gaze_interface.html#subsec_gaze_stabilization.
The new feature is on by default, but you can always disable it by relying on this command-line option: --imu::mode off.

Remember to update both yarp and icub-main!

What else? Should you experience any inconvenience, please report it asap.

PS: a quick and dirty showcase can be seen here: https://plus.google.com/u/0/+AlessandroRoncone/posts/bbDZHfEbg2G 😄

[pattacini]

And of course take note of #43 as well.