- avoid copy of FootAbsolutePosition object
- consider position at end of SS phase
- rename T_Ctr_, T_Prw_

- add stop(), walkForward(), walkSidewards()

- exchange Left and RightFPos... 
- exchange ZMP/FOOT_CONS... by ineq_e

- introduce objective_e, dynamics_e, ineq_e
- move enums to privatepgtypes
- remove dynamics_s in IntermedQPMat
- remove time measuring in OnLine()
- add * RFI_ in GenVelRef_
- add computed rotations to SupportStates_deq
- improve computation of inequalities
- set correct velocities in TestHerdt2010

Especially in initialization list.

- Document
- Add iterator for more efficiency
- Remove redundancy
- Restructure

note : used in LSSOL (QLD don't support this)

because security margins was counted two times

- Initialization in construct
- Align attribute names with convention

It's usefull to avoid multi-thread problems

Conflicts:
	src/PreviewControl/SupportFSM.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
	src/ZMPRefTrajectoryGeneration/qp-problem.cpp

Thanks to M. Morisawa for notifying.

This was witnessed in TestHerdt.

- Introduce solution_t Solution_
- Move Previews to soluton_t 
- QPProblem::dump_problem -> QPProblem::dump
- introduce solution_t.reset() and solution_t()
- smaller changes

"Four shalt thou not count, neither count thou two,

excepting that thou then proceed to three. Five is right out."

Bug noticed by M. Morisawa.

Please check if this patch corrects or destroys the realization of others PGs.