implemente bspline allowing settings of initial pos vel and acc.

...TrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp

...TrajectoryGeneration/FootTrajectoryGenerationStandard.cpp

...neration/LeftAndRightFootTrajectoryGenerationMultiple.cpp

...otTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp

src/Mathematics/Bsplines.cpp

src/Mathematics/Bsplines.hh

src/PatternGeneratorInterfacePrivate.cpp

src/StepStackHandler.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.hh

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

tests/TestBsplines.cpp

tests/TestInverseKinematics.cpp

tests/TestKajitaDynamicFilter.cpp

tests/TestMorisawa2007.cpp

tests/TestMulticontactInverseGeometry.cpp