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

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

Creation of function that compute the position of a third step to interpolate elong the whole preview contrl, still debugging.