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

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