Adding zmp initialization in the Herdt2010 PG.

src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/PreviewControl/PreviewControl.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.hh