make all the trajectory meaningfull for morizawa com z and make all the important test running again.

- 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

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

Begin the implementation of a multicontact PG based on Hirukawa2007

over a trajectory of com and feet