Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into rc-v3.1.4

src/PatternGeneratorInterfacePrivate.cpp

src/PreviewControl/SupportFSM.cpp

src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

src/privatepgtypes.cpp

src/privatepgtypes.h

tests/TestHerdt2010.cpp