Found some numerical instability.

1/ With cmake
IF (X)
tests ${X}
if you write
IF (${X})
${{X}} is tested instead

2/ If hrp2Dynamics is not present
takes the default flags of dynamicsJrlJapan.

Removed some obsolete functions in ZMPVelocityReferencedQP, namely:
ValidationConstraints
EndPhaseOfTheWalking
OnLineFootChange
OnLineAddFoot
buildZMPTrajectoryFromFootTrajectory!!
GetZMPDiscretization!!