Move reset to the beginning of online routine

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

@@ -348,6 +348,8 @@ ZMPVelocityReferencedQP::OnLine(double Time,
 
       // UPDATE INTERNAL DATA:
       // ---------------------
+      Problem_.reset();
+      Solution_.reset();
       VRQPGenerator_->CurrentTime( Time );
       SupportFSM_->update_vel_reference(VelRef_, IntermedData_->SupportState());
       IntermedData_->Reference( VelRef_ );
@@ -426,12 +428,6 @@ ZMPVelocityReferencedQP::OnLine(double Time,
           FinalLeftFootTraj_deq, FinalRightFootTraj_deq );
 
 
-      // RESET:
-      // ------
-      Problem_.reset();
-      Solution_.reset();
-
-
       // Specify that we are in the ending phase.
       if (EndingPhase_ == false)
         {