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Try to fix undefined math constants on Windows

M_PI is a POSIX extension which needs _USE_MATH_DEFINES to be defined
when including <math.h> on Windows. Detected by builds failing on
AppVeyor, hopefully fixing them.

(Some) References: robotology/QA#81
https://stackoverflow.com/questions/1727881/how-to-use-the-pi-constant-in-c

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