With the use of spatial algebra in JRL-dynamics ZMP needs
backward dynamics computation for proper evaluation.
The internal setting of the WPG used an approximation of
the momentum derivatives previously implemented in JRL-dynamics.
This commit fix this problem and the references for the unitary
test.

This should be also validate with the simple-humanoid and not
HRP-2.

ReadDataForNovela.cpp takes a file ZMPTrajectory.dat
and generates a ZMP-COM trajectory.

This reverts commit 2bf22e71.

This reverts commit 4440e734.

This reverts commit 03c3697c.

This reverts commit e639a29e.

This reverts commit 98d5f26e.

This reverts commit 337c48cb.

This reverts commit e0fb2940.

This reverts commit 8a239ae0.

This reverts commit 6c9d9ee4.

- Move interpretation of result to OnLineFootTraj...
- add method check_solution(...)
- Slight change of private member names

They are some slight differences of solution with the new version,
but nothing noticeable.

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