Merge pull request #20 from francois-keith/master

src/Mathematics/relative-feet-inequalities.cpp

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/MotionGeneration/ComAndFootRealizationByGeometry.hh

src/PreviewControl/LinearizedInvertedPendulum2D.cpp

src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp

src/ZMPRefTrajectoryGeneration/OrientationsPreview.h

src/ZMPRefTrajectoryGeneration/OrientationsPreview.hh

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h

src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp