Question is : how to initialiaze the algorithm for the ext time interval?

complete the gitignore file
implemet the forward moemntum (not tested)

introduce pinocchio inside the PG, Modify the Hirukawa PG to include the jacobians and the Eigen SVD.
correct bug in the angular part of the nmpc-generator cost function.
correct the instanciation of the obstacle using callMethod

get rid of metapod inside jrl-walkgen

minor modification off output debug in the rest of the files

Begin the implementation of a multicontact PG based on Hirukawa2007