make all the trajectory meaningfull for morizawa com z and make all the important test running again.

allow the restriction of the evolution of the foot step rotation independently from the foot step position

enable feedback control on Naveau2015

get continuous trajectory as output, still diverge with the dynamic filter

enable the ffeback control on the pattern generator, still some stuff to debug with the DynamicFilter

put back to 2 step the preview of the pg. The dynamic filter preview is one step (it seems to capture most dynamic anyway)

Implemente the feedback function. (to be used inside a signal)

smoothen the trajectory of the zmpmb in the dynamic filter

The online PG of morisawa can't be used for stair climbing yet.

Fix the com altitude finite state machine in the Morisawa PG. This apply for the getZMPDiscretization.