Reorganize pinocchio robot with m_qrpy and m_qpino.

include/jrl/walkgen/pinocchiorobot.hh

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/PatternGeneratorInterfacePrivate.cpp

src/PreviewControl/ZMPPreviewControlWithMultiBodyZMP.cpp

src/RobotDynamics/pinocchiorobot.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp

tests/CommonTools.cpp

tests/TestObject.cpp