introduce quadprog again, clean the cmakelist, advance the code

CMakeLists.txt

src/CMakeLists.txt

src/PatternGeneratorInterfacePrivate.cpp

src/PreviewControl/OptimalControllerSolver.cpp

src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp

src/ZMPRefTrajectoryGeneration/nmpc_generator.hh

src/configJRLWPG.hh.in

src/patterngeneratorinterfaceprivate.hh

tests/CMakeLists.txt