use the CjrlHumanoidDynamicRobot class to compute the dynamique in the dynamique filter.

...ltiContactRefTrajectoryGeneration/MultiContactHirukawa.cc

...ltiContactRefTrajectoryGeneration/MultiContactHirukawa.hh

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.hh

tests/TestKajitaDynamicFilter.cpp

tests/TestMorisawa2007.cpp