- Add buildConstraintInequalities

Clean and restructure FCALSFVelRef

- Add Documentation
- Add private functions setVertives, setFeetDimensions, initConvexHulls
- Add private members
- Change member names

- Remove dumping of variables

- Not needed anymore

- computeObjective is not needed anymore.

- Add constructor, reset() and operator= to support_state_s
- Add solution type

- Move initialize() to resize()
- Replace memset by for()
- Use templates to remove redundant code
- Initialize bounds always to 1e8/-1e8

-Add methods addTerm
-Methods dumpMatrix & dumpVector -> dump

- Add method preview
- Add method computeGlobalReference
- Remove deprecated methods updateProblem

Change required precision from 1e-6 to 1e-5

- Old entries are kept during reallocation

-Introduce resize(array, size) and setNbVariables(NbVar)

- Add printObjective, printState

- Reduce matrix sets to two types
- add method for the initialization of matrices
- add methods for the computation of scalar products
- add global objective types
- call by reference and const correctness

the objective

- Add method updateObjective
- Add method updateLSObjTerm
- Add 2 addTerm methods

Add new accessors

Add overloaded accessor functions

LinearInvertedPendulum2D
intermediate-qp-matrices

- add type standard_ls_form_t
- add type invariant_objective_part_t
- add type variant_objective_part_t
- add method getTermMatrices

- Add generator-vel-ref.cpp/hh
- Add mpc-trajectory-generation.cpp/hh

- Add intermediate-qp-matrices.hh/cpp