- 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.

Implements a test doing interpolation for hands and feet placement on a stair + hand rail setup.
Uses TestHirukawa2007.cpp for metapod usage debug.

      TODO retest all the trajectories in simulation and in reality

TODO check the corretness of the bsplines trajectories

-- Not working --

implement correctly the foot trajectory along the vertical axis using BSpline

- ComputeAllWithPolynom
- ComputeAllWithBSplines

Introduces BSplines for X and Y axes

All dumping clear, 4ms running for the herdt pattern generator with dynamical filter

complete the .gitignorefiley