Adding equality constraint in the QP of the Herdt2010 algortihm to limit the evolution of the feet close to the landing time.
Few correction on the Morisawa's PG

complete the .gitignorefiley

Doesn t link...

Conflicts:
	.gitignore
	src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
	src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.hh
	src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
	src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp
	src/Mathematics/AnalyticalZMPCOGTrajectory.cpp
	src/Mathematics/PolynomeFoot.cpp
	src/Mathematics/PolynomeFoot.hh
	src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
	src/MotionGeneration/ComAndFootRealizationByGeometry.hh
	src/PatternGeneratorInterfacePrivate.cpp
	src/PreviewControl/LinearizedInvertedPendulum2D.cpp
	src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
	src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh
	src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
	tests/CMakeLists.txt
	tests/TestKajita2003.cpp
	tests/TestMorisawa2007.cpp
	tests/TestObject.cpp
	tests/TestObject.hh

!carefull at this commit all the debug are inside the PG

Conflicts:
	src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
	src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

Adding a 3rd stage in ComAndFootRealizationByGeometry.cpp to compute the corrected ZMPMB inside the PG.

Avoid copy and paste method in AnalyticalZMPCOGTrajectory::GetIntervalIndexFromTime

Modify the initialisation of the class dynamic filter in morisawa's PG

with the Kajita's dynamic filter

with the Kajita's dynamic filter