add LQR controller to runAtlasBalance, but the controller works only for the first second, and then fails when the contact breaks
add LQR controller to runAtlasBalance, but the controller works only for the first second, and then fails when the contact breaks


git-svn-id: 767549f2a3626ae39d79f5348867a3ebb5082aca@296 c7283977-0100-402a-a91a-fa70b306dbfe

openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro