Revert "Improve access to matrices and their transformation into final form"

src/Mathematics/intermediate-qp-matrices.cpp

src/Mathematics/intermediate-qp-matrices.hh

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh

src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp

src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.hh

src/privatepgtypes.h