fix bug int the computation of the bsplines

...TrajectoryGeneration/FootTrajectoryGenerationStandard.cpp

src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp

src/Mathematics/Bsplines.cpp

src/Mathematics/Bsplines.hh

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

tests/TestMorisawa2007.cpp