The fix proposed by http://gcc.gnu.org/bugzilla/show_bug.cgi?id=323
is not working when recompiling jrl-walkgen and jrl-dynamic
with -msse and -mfpmath=sse.

However the two other algorithms do not suffer from the transition
between x86_32 and x86_64. Thus it might still come from a x87 problem
(aka an intermediate high resolution representation in CPU which is
lost after memory transfer) specific to Morisawa.

The trajectories are however very similar between each other. Thus
this differenciation is to maintain a working unitary test.

Morisawa 2007 is failing on 12.04 x86_64,
and working on 10.04 x86_32.
For the latter reason, the test is still not activated.

With the use of spatial algebra in JRL-dynamics ZMP needs
backward dynamics computation for proper evaluation.
The internal setting of the WPG used an approximation of
the momentum derivatives previously implemented in JRL-dynamics.
This commit fix this problem and the references for the unitary
test.

This should be also validate with the simple-humanoid and not
HRP-2.

ReadDataForNovela.cpp takes a file ZMPTrajectory.dat
and generates a ZMP-COM trajectory.

This reverts commit 2bf22e71.

This reverts commit 4440e734.

This reverts commit 03c3697c.

This reverts commit e639a29e.

This reverts commit 98d5f26e.

This reverts commit 337c48cb.

This reverts commit e0fb2940.

This reverts commit 8a239ae0.

This reverts commit 6c9d9ee4.

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