Merge branch 'fullUD' into 'master'

decoder/src/Decoder.cpp

maca_common/include/ProgramOutput.hpp

maca_common/include/util.hpp

maca_common/src/ProgramOutput.cpp

maca_common/src/util.cpp

trainer/src/TrainInfos.cpp

trainer/src/Trainer.cpp

transition_machine/include/BD.hpp

transition_machine/include/Classifier.hpp

transition_machine/include/Config.hpp

transition_machine/src/ActionBank.cpp

transition_machine/src/BD.cpp

transition_machine/src/Classifier.cpp

transition_machine/src/Config.cpp

transition_machine/src/Oracle.cpp