Merge branch 'refactor' into 'master'

CMakeLists.txt

include/bezier-com-traj/common_solve_methods.hh

include/bezier-com-traj/common_solve_methods.inl

include/bezier-com-traj/cost/costfunction_definition.hh

include/bezier-com-traj/data.hh

include/bezier-com-traj/definitions.hh

include/bezier-com-traj/flags.hh

include/bezier-com-traj/solve.hh

include/bezier-com-traj/utils.hh

include/bezier-com-traj/waypoints/waypoints_c0_dc0_c1.hh

include/bezier-com-traj/waypoints/waypoints_c0_dc0_dc1.hh

include/bezier-com-traj/waypoints/waypoints_c0_dc0_dc1_c1.hh

...ude/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_c1.hh

...bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh

...r-com-traj/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh

include/bezier-com-traj/waypoints/waypoints_definition.hh

src/CMakeLists.txt

src/common_solve_methods.cpp

src/computeCOMTraj.cpp

src/costfunction_definition.cpp