remove a display

Adding oder 7 polynome to be used to compute X,Y,Theta position for the feet.
Do a little cleanup of the computation of the foot position.

The graphs have to be checked.

- 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 axis_e
- extend convex_hull_t:
	- add Inequalities
	- add clear()
	- add cout()
- remove AxesType
- remove old copy of compute_linear_system()

- exchange Left and RightFPos... 
- exchange ZMP/FOOT_CONS... by ineq_e

Bug noticed by M. Morisawa.

- Add computation of foot dynamics matrices
- Move interpolation to RBS::generate_trajectories
- Move initialize_dynamics to RBS
- Add enum types FootType PhaseType
- Move solution_t, support_state_t to privatepgtypes
- Add a margin of -T_/10 to TimeLimit
- Clean up

- Fix bug in convex_hull_t::rotate...
- Clean up in several files

This reverts commit e08acb3f.

This reverts commit 705fb8bd.

- FootConstraintsAsLinear... to RelativeFeetInequalities

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

- Add documentation

instead of variables of a custom type

- Introduce structs for zmp and feet convex hulls

Clean and restructure FCALSFVelRef

- Add Documentation
- Add private functions setVertives, setFeetDimensions, initConvexHulls
- Add private members
- Change member names

This commit allows to change on-line the constraints applied on the
feet. On-line modification such as in Dimitar2007, allows to script
the constraints modification. This calls for a proper synchronization
of information better handled in a separate class FootHalfSize.

Those values work for HRP-2, but prevented regression tests
with sample-humanoid-robot.