There where auto-collision and singularities

- Implemented BSplines for foot trajectory along Y axis

implement correctly the foot trajectory along the vertical axis using BSpline

- ComputeAllWithPolynom
- ComputeAllWithBSplines

Introduces BSplines for X and Y axes

minor modification off output debug in the rest of the files

Still some discontinuities in theta.

Modify the way the data of the ZMPVeolicityReferencedQP class are treated
continue the implementation of the dynamical filter of Kajita2003icra

Continue the work on Herdt online

Begin the implementation of a multicontact PG based on Hirukawa2007

over a trajectory of com and feet

Adding equality constraint in the QP of the Herdt2010 algortihm to limit the evolution of the feet close to the landing time.
Few correction on the Morisawa's PG