correct a bug in reference_t::frame_t::frame_t(const frame_t & F): where the copy where not good (old : x=x y=x!)

Not all structures (especially private ones) have an ostream operator because I
did not need them this time, not for any technical reason

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()

- Initialization in construct
- Align attribute names with convention

- Introduce solution_t Solution_
- Move Previews to soluton_t 
- QPProblem::dump_problem -> QPProblem::dump
- introduce solution_t.reset() and solution_t()
- smaller changes

- 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

- Instanciate IntermedQPMat outside of VRQPGen.
- Add call :stoppg
- Do cosmetics...

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

This reverts commit 72817935.

This reverts commit fc8c8c64.

This reverts commit 91f60c13.

This reverts commit 2a298cf6.

This reverts commit a7dc546c.

This reverts commit 5dd65079.

This reverts commit 5fb29905.

This reverts commit 04698daf.

- Replace supportfoot_t by support_state_t

- Add resize() to linear_inequality_t
- Minor changes

- Compressed matrices x.D and y.D and dense vector dc
- clear() method for zeroing

- Add type convex_hull_t
- Add method resize(int&)
- Add method reset(void)
- Add method set(double*,double*)
- Add method rotate(double&)

- Add constructor, reset() and operator= to support_state_s
- Add solution type

LinearInvertedPendulum2D
intermediate-qp-matrices