Introduces a test for Andreas Orthey's foot steps:go through wall 2.0

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

tests/CMakeLists.txt

tests/TestHirukawa2007.cpp

tests/TestMorisawa2007.cpp