The variable name was using capitals letter for
differenciation. Added FOR_VEL_REF.

Please DO NOT put types in the API which are not necessary
to interact with the user. This should stay in the private
area.

Conflicts:
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h

Trailing spaces should be removed to ease code comparison.

This reverts commit c8afc3f3.

This reverts commit 7c4555db.

This reverts commit b814d671.

This reverts commit 174e870d.

Now pure FSM
The current and previewed support states are given as parameters of the new type SupportState_t.

interpolateTrunkState
interpolateFeetPositions

Found some numerical instability.

1/ With cmake
IF (X)
tests ${X}
if you write
IF (${X})
${{X}} is tested instead

2/ If hrp2Dynamics is not present
takes the default flags of dynamicsJrlJapan.

Removed some obsolete functions in ZMPVelocityReferencedQP, namely:
ValidationConstraints
EndPhaseOfTheWalking
OnLineFootChange
OnLineAddFoot
buildZMPTrajectoryFromFootTrajectory!!
GetZMPDiscretization!!