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

- move build_invariant_part to InitOnLine()
- avoid recomputation of cop in single-body mode

- 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()

- add build_constraints_com
- move enums to privatepgtypes
- minor changes

- 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

note : used in LSSOL (QLD don't support this)

- 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

Add rigid-body.cpp/hh
Add rigid-body-system.cpp/hh

- 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 31a931be.

This reverts commit fc8c8c64.

This reverts commit 91f60c13.

This reverts commit a33beb27.

This reverts commit 4d440440.

This reverts commit 2a298cf6.

This reverts commit a7dc546c.

This reverts commit 5dd65079.

This reverts commit d495f845.

This reverts commit 04698daf.

This reverts commit c9ac21c1.

This reverts commit 3713038d.

This reverts commit 8fa54be0.