Still some discontinuities in theta.

Modify the way the data of the ZMPVeolicityReferencedQP class are treated
continue the implementation of the dynamical filter of Kajita2003icra

Initialy the velocity and acceleration were the CoM's. This commit moved them to the waist, which is the default free flyer.

Continue the work on Herdt online

Merge branch 'origin/topic/dynamic_filter_with_metapod' into origin/topic/dynamic_filter_with_metapod_clean

Conflicts:
	src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
	src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
	src/ZMPRefTrajectoryGeneration/DynamicFilter.hh
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
	tests/TestMorisawa2007.cpp

Begin the implementation of a multicontact PG based on Hirukawa2007

Conflicts:
	src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

Conflicts:
	src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

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

over a trajectory of com and feet

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

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

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

Conflicts:
	src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp

adding a new call method, clean a bit the class dynamicFilter, after a while there is a bug in the instanciation of a MAL_VECTOR, a segfault is launched

Adding the dynamic filter in the Herdt2010 PG.

Adding equality constraint in the QP of the Herdt2010 algortihm to limit the evolution of the feet close to the landing time.
Few correction on the Morisawa's PG