Organization: Splitting Hardware, Inverse Kinematics, Tools

[olivier-stasse]

Currently there is no clear separation between several aspects handled by sot-core:

• Hardware/Simulator:
  • Device
  • SotAbstractInterface
• InverseKinematics
  • solvers.cpp
  • features
  • tasks
• Tools
  • robots_utils

... to be completed ...
This should be reflected in the documentation and the code organization