With the use of spatial algebra in JRL-dynamics ZMP needs
backward dynamics computation for proper evaluation.
The internal setting of the WPG used an approximation of
the momentum derivatives previously implemented in JRL-dynamics.
This commit fix this problem and the references for the unitary
test.

This should be also validate with the simple-humanoid and not
HRP-2.

(aka a humanoid robot without upper body...)

DLR Biped do not have arms...

ReadDataForNovela.cpp takes a file ZMPTrajectory.dat
and generates a ZMP-COM trajectory.

Add debug messages.
Change package name in license part.

This means that the new foot-step should be introduced in the first-half
of a single support phase.

This reverts commit 28e362ea.

This reverts commit 82b9786c.

This reverts commit 49dba2a7.

This reverts commit 17abe740.

This reverts commit 9be73b04.

This reverts commit 22431d47.