- move build_invariant_part to InitOnLine()
- avoid recomputation of cop in single-body mode

- use of iterators
- correct resize logic

- The position of the current support foot is considered
- introduce VcX,VcY,VcshiftX,VcShiftY,Vc_fX,Vc_fY
- move resize of N_-dependent matrices to gen._sel_mat.()

Conflicts:
	src/Mathematics/relative-feet-inequalities.cpp
	src/Mathematics/relative-feet-inequalities.hh

- add shifted selection matrix
- add convex_hull_t CoMHull_
- add set_inequalities
- add build_inequalities_com
- rewrite build_constraints_com
- add addition of ublas::matrix in vector DS
- smaller refactoring

Conflicts:
	src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
	src/privatepgtypes.h

- introduce axis_e
- extend convex_hull_t:
	- add Inequalities
	- add clear()
	- add cout()
- remove AxesType
- remove old copy of compute_linear_system()

- yet another unnecessary piece of work

Conflicts:
	src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

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

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

- add build_constraints_com
- move enums to privatepgtypes
- minor changes

- 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