* do not add nlopt define when nlopt has not been found
* avoid some warnings due to wrong floating point and signed/unsigned formats

Nl opt ik provements

Best Solution is always returned and added small improvement for orientation error calculation

See merge request !3

Add RBDL-specific files after INCLUDES is first defined (otherwise, it makes no sense and INCLUDES with Dynamics/dynamics.h is overwritten immediately after being set)

Conflicts:
	VirtualRobot/Visualization/VisualizationFactory.h

Keep with the old default number of iterations (30). The default from ConstrainedIK (1000) is much too much.

ConstrainedOptimizationIK: added usage of alreadly available iterations variable (which can be individually set)

sanity checks