smoothen the trajectory of the zmpmb in the dynamic filter

introduce pinocchio inside the PG, Modify the Hirukawa PG to include the jacobians and the Eigen SVD.
correct bug in the angular part of the nmpc-generator cost function.
correct the instanciation of the obstacle using callMethod

- Add new class to manage the txt file with 3 methods (read, add text to the end, delete and add new text). It is still work in progress..
- Fixed the path to OpenHRP2 (now the pos zmp and waist are created inside bin folder)
- Removed function dummy

remove an additionnal memeber with the same fuctionnality in OnLineFootTrajectoryGeneration.cpp
Fix the callMethod to handle this step height member

use the same test in the SQP as for the herdt QPs algorithm

TODO use the dynamic filter on it

introduce the case of standing stil inside the PG. To be verified after full intergration inside jrl-walkgen

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!)

overload a function of OnLineFootTrajectoryGeneration to do so

adding debug code, and disable them commenting out "#define DEBUG"