Merge branch 'topic/rc-v3.1.4' into topic/merge-rc-3.1.4

Conflicts:
	CMakeLists.txt
	src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp
	src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.hh
	src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.hh
	src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
	src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h
	src/Mathematics/PLDPHerdt.cpp
	src/Mathematics/PLDPSolverHerdt.hh
	src/Mathematics/intermediate-qp-matrices.cpp
	src/Mathematics/intermediate-qp-matrices.hh
	src/Mathematics/relative-feet-inequalities.cpp
	src/Mathematics/relative-feet-inequalities.hh
	src/PatternGeneratorInterfacePrivate.cpp
	src/PreviewControl/LinearizedInvertedPendulum2D.h
	src/PreviewControl/SupportFSM.cpp
	src/PreviewControl/SupportFSM.h
	src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
	src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
	src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
	src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
	src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp
	src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.hh
	src/ZMPRefTrajectoryGeneration/qp-problem.cpp
	src/ZMPRefTrajectoryGeneration/qp-problem.hh
	src/privatepgtypes.cpp
	src/privatepgtypes.h
	tests/TestHerdt2010.cpp
	tests/TestHerdt2010OnLineTestFGPI.datref.cmake
	tests/TestObject.cpp