TODO check the corretness of the bsplines trajectories

There where auto-collision and singularities

Implemented the offsted along Y to have curving motion

-- Not working --

Merge branch 'topic/walkingclean' of trac:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/merge

Merge branch 'topic/walkingclean' of trac:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/merge

Merge branch 'topic/walking_clean' of trac:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/merge

Conflicts:
	src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
	src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp

- Implemented BSplines for foot trajectory along Y axis

in the morisaw's PG

implement correctly the foot trajectory along the vertical axis using BSpline

Merge branch 'topic/walkingclean' of trac.laas.fr:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/walking_clean

Conflicts:
	tests/TestMorisawa2007.cpp

- ComputeAllWithPolynom
- ComputeAllWithBSplines

Introduces BSplines for X and Y axes

minor modification off output debug in the rest of the files

Avoid some useless computation inside the dynamical filter algorithm and try a compatibility patch for ubuntu10.04 and ubuntu12.04 librairies use

All dumping clear, 4ms running for the herdt pattern generator with dynamical filter