yasu changes after paper submission for Robosoft

refactor: change variables to be same as report

characterization is split in two parts. refer to report and code for details.

# Conflicts:
#	SoftTrunk/src/example_forceController.cpp

Feature/new parametrization

feat: characterization outputs logs, which is read by Python script

characterize script has segment-wise plotting

fix: change q parameter in updateQ function to input by pointer
fix: was using "duration" variable for 2 things in Manager

refactor: move to public members to private where appropriate

- works on Mac
- add function in Manager that handles all the iteration stuff

feat: function sendJointSpaceProfile() in Manager that takes a function as input, simplifying experiment.cpp
docs
remove all matplotlibcpp references, since same thing can be done more efficiently with csv output + Python script

use deltaLa and deltaLb for parameters
numerical derivation of Jacobean at AugmentRigidArm
inline documentation
rviz integration

feat: correct mapping to 11-DoF augmented model

feat: ROS publisher of joint states
todo: don't do ROS stuff when it's not installed (how to do this??)

feat: new actuatePressure based on generalized pressures. Accordingly,
PID controller directly outputs pressure
fix: in AugmentedRigidArm, fix mistake where xi was using old q value
fix: stupid error in which q was 1/5 of actual value....

fix: exact same parametrization whether it's 2 or 3 chambers
fix: characterize code uses just one chamber per segment for calculation
fix: was adding PRESSURE_OFFSET twice
feat: force_mapping matrix (add more comments about what this is!)

fix: matrix operations