Finish Morisawa short walk on the stairs

CMakeLists.txt

...TrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp

...tTrajectoryGeneration/FootTrajectoryGenerationAbstract.hh

...TrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp

...TrajectoryGeneration/FootTrajectoryGenerationStandard.cpp

...neration/LeftAndRightFootTrajectoryGenerationMultiple.cpp

src/Mathematics/AnalyticalZMPCOGTrajectory.cpp

src/Mathematics/Bsplines.cpp

src/PatternGeneratorInterfacePrivate.cpp

src/StepStackHandler.cpp

src/StepStackHandler.hh

...ZMPRefTrajectoryGeneration/AnalyticalMorisawaAbstract.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaAbstract.hh

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

tests/CMakeLists.txt

tests/CommonTools.hh

tests/TestMorisawa2007.cpp

tests/TestObject.cpp

tests/TestObject.hh