simplify the use of the dynamic filter.

...TrajectoryGeneration/FootTrajectoryGenerationStandard.cpp

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.hh

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

tests/TestHerdt2010DynamicFilter.cpp

tests/TestMorisawa2007.cpp

tests/TestMulticontactInverseGeometry.cpp