Merge branch 'topic/StairWalking' into topic/merge

Doesn t link...

Conflicts:
	.gitignore
	src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
	src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.hh
	src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
	src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp
	src/Mathematics/AnalyticalZMPCOGTrajectory.cpp
	src/Mathematics/PolynomeFoot.cpp
	src/Mathematics/PolynomeFoot.hh
	src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
	src/MotionGeneration/ComAndFootRealizationByGeometry.hh
	src/PatternGeneratorInterfacePrivate.cpp
	src/PreviewControl/LinearizedInvertedPendulum2D.cpp
	src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
	src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh
	src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
	tests/CMakeLists.txt
	tests/TestKajita2003.cpp
	tests/TestMorisawa2007.cpp
	tests/TestObject.cpp
	tests/TestObject.hh