Move specification of dynamics to rigid-body...

src/Mathematics/intermediate-qp-matrices.cpp

src/Mathematics/intermediate-qp-matrices.hh

src/PreviewControl/rigid-body-system.cpp

src/PreviewControl/rigid-body-system.hh

src/PreviewControl/rigid-body.cpp

src/PreviewControl/rigid-body.hh

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh

src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.hh

src/privatepgtypes.h