HHRI-Software Copyright 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques). This project is licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. This software contains code developped by STMicroelectronics under the MCD-ST Liberty SW License Agreement V2.