enable feedback control on Naveau2015

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.

correct comparison warning in bspline test

Question is : how to initialiaze the algorithm for the ext time interval?

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

TODO verify whole body trajectories

- 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

Increase the size of some buffer

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

TODO use the dynamic filter on it