Conflicts:
	src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp
	src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.hh
	src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
	src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
	src/Mathematics/Bsplines.cpp
	src/Mathematics/Bsplines.hh
	src/PatternGeneratorInterfacePrivate.cpp
	src/StepStackHandler.cpp
	src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp
	src/patterngeneratorinterfaceprivate.hh
	tests/TestBsplines.cpp
	tests/TestHerdt2010.cpp

Remove hard coded data (foot order), cleanup+simplify the code.

Otherwise there will be troubles at the beginning of the walk,
and discontinuities.

Using this trick, the dependency in hrp2 is removed from the
jrl-walkgen.pc file.

Topic/fix pg initialization