add a class that uses the pinocchio framework

include/jrl/walkgen/patterngeneratorinterface.hh

src/CMakeLists.txt

...tTrajectoryGeneration/FootTrajectoryGenerationAbstract.hh

...eneration/LeftAndRightFootTrajectoryGenerationMultiple.hh

src/GlobalStrategyManagers/GlobalStrategyManager.hh

src/Mathematics/FootConstraintsAsLinearSystem.hh

src/Mathematics/relative-feet-inequalities.hh

src/MotionGeneration/ComAndFootRealization.hh

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/MotionGeneration/StepOverPlanner.hh

src/PatternGeneratorInterfacePrivate.cpp

src/PreviewControl/rigid-body-system.hh

src/RobotDynamics/PinocchioRobot.cpp

src/RobotDynamics/PinocchioRobot.hh

src/ZMPRefTrajectoryGeneration/OrientationsPreview.hh

src/ZMPRefTrajectoryGeneration/ZMPDiscretization.hh

src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh

src/ZMPRefTrajectoryGeneration/nmpc_generator.hh

tests/TestObject.cpp

tests/TestObject.hh