The graphs have to be checked.

- The position of the current support foot is considered
- introduce VcX,VcY,VcshiftX,VcShiftY,Vc_fX,Vc_fY
- move resize of N_-dependent matrices to gen._sel_mat.()

- add shifted selection matrix
- add convex_hull_t CoMHull_
- add set_inequalities
- add build_inequalities_com
- rewrite build_constraints_com
- add addition of ublas::matrix in vector DS
- smaller refactoring

- introduce objective_e, dynamics_e, ineq_e
- move enums to privatepgtypes
- remove dynamics_s in IntermedQPMat
- remove time measuring in OnLine()
- add * RFI_ in GenVelRef_
- add computed rotations to SupportStates_deq
- improve computation of inequalities
- set correct velocities in TestHerdt2010

Add * robot_

This reverts commit 17abe740.

This reverts commit 22431d47.

This reverts commit fd4dcaf1.

This reverts commit 31a931be.

This reverts commit 64342f7c.

This reverts commit 8d4c499d.

This reverts commit 1067bb30.

This reverts commit ec24904c.

This reverts commit d495f845.

This reverts commit ae69d003.

This reverts commit 3e5325dd.

This reverts commit 04698daf.

This reverts commit 835e2738.

- Replace supportfoot_t by support_state_t

- 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

- Add struct dynamics
- Add members for dynamics and linear inequalities
- Add accessors
- Add selection matrices
- Add operator and method for dumping

- Add printObjective, printState

- Reduce matrix sets to two types
- add method for the initialization of matrices
- add methods for the computation of scalar products
- add global objective types
- call by reference and const correctness

Add overloaded accessor functions

- add type standard_ls_form_t
- add type invariant_objective_part_t
- add type variant_objective_part_t
- add method getTermMatrices

- Add intermediate-qp-matrices.hh/cpp