Enable accessor to some nmpc_generator variable
Clean comments

TODO use the dynamic filter on it

introduce the case of standing stil inside the PG. To be verified after full intergration inside jrl-walkgen

correct a bug in reference_t::frame_t::frame_t(const frame_t & F): where the copy where not good (old : x=x y=x!)

overload a function of OnLineFootTrajectoryGeneration to do so

adding debug code, and disable them commenting out "#define DEBUG"

remove a display

prepare the online morisawa.

- The algorithm has been tested with the StackOfTask on OpenHrp3.1 on Ubuntu 12.04 precise.
- The Beam movement with morisawa's algorithm has been tested and approuved.
- correct the use of the HRP2 specialized inverse geometry
- Modify sligthly some tests

TODO
- Need to finish the implementation on the online pattern generator of Morisawa.
- Need to set the z position of the foot on morisawa to 0.

- finish the good computation for bspline without point in the middle, the other need checking and dynamic simulation to be sure.
- fix a bug in the interpolation of the COM/ZMP in herdt 2010.

Enable interpolation at the acceleration level for with the bspline.

get rid of metapod inside jrl-walkgen

test fail for the going down stairs 15cm, succeeded without dynamic filter

Implements a test doing interpolation for hands and feet placement on a stair + hand rail setup.
Uses TestHirukawa2007.cpp for metapod usage debug.

      TODO retest all the trajectories in simulation and in reality

-Includes C² trajectory for the com and the zmp in z.
-Inculdes Bsplines that satisfy initial and final condition for the foot trajectories.
-Implements foot trajectories for stepping stones, stairs up and down.
	    need some work on the beam trajectories.

fix bug in the com vertical trajectories