Update and test controllers

[gabrielenava]

Controllers to be updated and tested:

• https://github.com/robotology/whole-body-controllers/tree/master/controllers/simulink-balancing-simulator
• https://github.com/robotology/whole-body-controllers/tree/master/controllers/floating-base-jerk-control
• https://github.com/robotology/whole-body-controllers/tree/master/controllers/floating-base-balancing-torque-control
• https://github.com/robotology/whole-body-controllers/tree/master/controllers/floating-base-balancing-position-control
• https://github.com/robotology/whole-body-controllers/tree/master/controllers/fixed-base-joints-torque-control
• https://github.com/robotology/whole-body-controllers/tree/master/controllers/%2BfloatingBaseBalancingTorqueControlWithSimulator

I will verify that they are still up and running for the iCubGazeboV2_5 robot on Ubuntu.

side note: I have decided not to change the coding style of the controller configuration files. They contain many gains and parameters, all of them formatted in a different (but at least readable) way. If I apply automatic formatting, many parameters are moved and readability is compromised. Formatting in this case would be better done manually, but the files are many and I don't think it is worth doing it.