Update Algo Stepping stair Morisawa

include/jrl/walkgen/pgtypes.hh

...TrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp

...tTrajectoryGeneration/FootTrajectoryGenerationAbstract.hh

...TrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp

...tTrajectoryGeneration/FootTrajectoryGenerationMultiple.hh

...TrajectoryGeneration/FootTrajectoryGenerationStandard.cpp

...tTrajectoryGeneration/FootTrajectoryGenerationStandard.hh

...neration/LeftAndRightFootTrajectoryGenerationMultiple.cpp

...eneration/LeftAndRightFootTrajectoryGenerationMultiple.hh

src/Mathematics/Bsplines.cpp

src/Mathematics/Bsplines.hh

src/PatternGeneratorInterfacePrivate.cpp

src/StepStackHandler.cpp

...ZMPRefTrajectoryGeneration/AnalyticalMorisawaAbstract.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaAbstract.hh

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh

src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp

src/patterngeneratorinterfaceprivate.hh

tests/TestMorisawa2007.cpp