merging some feature from the master branch

include/jrl/walkgen/pgtypes.hh

src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp

src/Mathematics/intermediate-qp-matrices.hh

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/PatternGeneratorInterfacePrivate.cpp

src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

src/patterngeneratorinterfaceprivate.hh