make all the trajectory meaningfull for morizawa com z and make all the important test running again.

enable feedback control on Naveau2015

get continuous trajectory as output, still diverge with the dynamic filter

smoothen the trajectory of the zmpmb in the dynamic filter

The online PG of morisawa can't be used for stair climbing yet.

correct comparison warning in bspline test

remove an additionnal memeber with the same fuctionnality in OnLineFootTrajectoryGeneration.cpp
Fix the callMethod to handle this step height member

TODO use the dynamic filter on it

overload a function of OnLineFootTrajectoryGeneration to do so

prepare the online morisawa.

- The algorithm has been tested with the StackOfTask on OpenHrp3.1 on Ubuntu 12.04 precise.
- The Beam movement with morisawa's algorithm has been tested and approuved.
- correct the use of the HRP2 specialized inverse geometry
- Modify sligthly some tests

TODO
- Need to finish the implementation on the online pattern generator of Morisawa.
- Need to set the z position of the foot on morisawa to 0.

- finish the good computation for bspline without point in the middle, the other need checking and dynamic simulation to be sure.
- fix a bug in the interpolation of the COM/ZMP in herdt 2010.

Enable interpolation at the acceleration level for with the bspline.

-Includes C² trajectory for the com and the zmp in z.
-Inculdes Bsplines that satisfy initial and final condition for the foot trajectories.
-Implements foot trajectories for stepping stones, stairs up and down.
	    need some work on the beam trajectories.

TODO check the corretness of the bsplines trajectories

There where auto-collision and singularities