include the computation of the orientation of the waist in the Morisawa PG

...TrajectoryGeneration/FootTrajectoryGenerationStandard.cpp

src/Mathematics/AnalyticalZMPCOGTrajectory.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.hh

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

tests/TestHerdt2010DynamicFilter.cpp

tests/TestMorisawa2007.cpp