- FootConstraintsAsLinear... to RelativeFeetInequalities

- Move interpretation of result to OnLineFootTraj...
- add method check_solution(...)
- Slight change of private member names

- Remove interpolateTrunkState(...)
- Remove obsolete members

for computation of global reference

- add interpolate_trunk_orientation
- hide implementation
- move some members to locally declarated variables
- remove dumping procedures
- add accessors
- simplify constructor call
- add documentation

- Remove interpolateFeetPositions and UpdateFootPosition

- inherit from FootTrajectoryGenerationStandard
- add UpdateFootPosition(...), interpolateFeetPositions(...)
- clean up and documentation

- make parameters private
- add accessors
- slight change of names
- add documentation

- Remove initFeet()
- Remove supportfoot_t variables
- Change naming convention of queues

- Replace supportfoot_t by support_state_t

To make sure that -Werror is quite.

They are some slight differences of solution with the new version,
but nothing noticeable.

- Remove: setNbVariables(), clear(), setDimensions(), initialize()
- Hide some methods
- Slight change of members naming style

+ Minor bugfix

- Add automatic adaptation of problem size

- replace raw pointer arrays by the new class
- add construction/destruction
- add public methods: fill,resize, stick_together
- add public members array_, id_, nrows_, ncols_

- Add accessors to the number of equality constraints and the total number
- Add documentation
- Minor changes

- Remove
BuildingConstantPartOfConstraintMatrices
buildConstraintMatricesPLDPHerdt
InitConstants
computeCholeskyOfQ

- other minor cleanings

- Make solver parameters of qp-problem private
- Add solution class to qp-problem
- Add methods resize, dump and print to the solution class
- Improve documentation

- m_Alpha ... m_Gamma
- debugConstructor
- InitializeMatrixPbConstants
- SetAlpha ... GetBeta
- dumpProblem
- buildConstraintMatrices
- ODEBUGS
- debugMatrix
- Matrix/VectorType
- m_PPu ... m_Uc
- computeLinearSystem

- Add documentation

- Dumping of boost matrices now done by IntermedQPMat