cleaned kinematics and added inverse kine

src/uam_task_ctrl.h

 #ifndef _UAM_TASK_CTRL_H
 #define _UAM_TASK_CTRL_H
 
-#include <stdio.h>
+// MISC
 #include <iostream>
-#include <fstream>
-#include <unistd.h>
 #include <string>
-#include <sstream>
-#include <math.h>
+
+// Eigen
 #include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Eigenvalues>
-#include <eigen3/Eigen/SVD>
-
-// KDL stuff
-#include <kdl/frames.hpp> 
-#include <kdl/frames_io.hpp> 
-#include <kdl/chain.hpp>
-#include <kdl/chainfksolver.hpp>
-#include <kdl/chainfksolverpos_recursive.hpp>
-#include <kdl/chainiksolver.hpp>
-#include <kdl/chainiksolverpos_nr.hpp>
-#include <kdl/chainiksolvervel_wdls.hpp>
-#include <kdl/frames_io.hpp>
-
-#include <kdl/chainjnttojacsolver.hpp>
-
-#include <boost/scoped_ptr.hpp>
-#include <boost/shared_ptr.hpp>
 
 // Own libraries
 #include "common_fc.h"