Compute the orientation of the robot to get smooth trajectories

...otTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp

src/Mathematics/PolynomeFoot.cpp

src/Mathematics/PolynomeFoot.hh

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp

src/ZMPRefTrajectoryGeneration/OrientationsPreview.hh

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

tests/TestHerdt2010DynamicFilter.cpp