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When checking, please be careful to have your wireless connection off.
It might jam the time profile.

When trying an array of data one should test if the size is zero.
Indeed in such case, the time to handle the error by the system can be prohibitive.

This commit lower the time to allocate memory from 18 ms to 8 ms.

A better policy would be to allocate memory when called by the control
part which is not supposed to in the real-time part of the controller.

- Move templates to .hxx
- Unify naming of members

- FootConstraintsAsLinear... to RelativeFeetInequalities

- Move interpretation of result to OnLineFootTraj...
- add method check_solution(...)
- Slight change of private member names

- Remove interpolateTrunkState(...)
- Remove obsolete members

for computation of global reference

- add interpolate_trunk_orientation
- hide implementation
- move some members to locally declarated variables
- remove dumping procedures
- add accessors
- simplify constructor call
- add documentation