Adding a 3rd stage in ComAndFootRealizationByGeometry.cpp to compute the corrected ZMPMB inside the PG.

Avoid copy and paste method in AnalyticalZMPCOGTrajectory::GetIntervalIndexFromTime

Modify the initialisation of the class dynamic filter in morisawa's PG

with the Kajita's dynamic filter

with the Kajita's dynamic filter

Adding oder 7 polynome to be used to compute X,Y,Theta position for the feet.
Do a little cleanup of the computation of the foot position.

Creation of function that compute the position of a third step to interpolate elong the whole preview contrl, still debugging.

the modification bring contunous CoM and ZMP along time but increase the error between the zmp ref and the zmp multibody