-Introduce resize(array, size) and setNbVariables(NbVar)

- Add printObjective, printState

- Reduce matrix sets to two types
- add method for the initialization of matrices
- add methods for the computation of scalar products
- add global objective types
- call by reference and const correctness

the objective

- Add method updateObjective
- Add method updateLSObjTerm
- Add 2 addTerm methods

Add new accessors

Add overloaded accessor functions

LinearInvertedPendulum2D
intermediate-qp-matrices

- add type standard_ls_form_t
- add type invariant_objective_part_t
- add type variant_objective_part_t
- add method getTermMatrices

- Add generator-vel-ref.cpp/hh
- Add mpc-trajectory-generation.cpp/hh

- Add intermediate-qp-matrices.hh/cpp

-Add method solve(int solver) to problem-vel-ref
-Rename problem-vel-ref to qp-problem and ProblemVelRef_s to QPProblem_s

Set now to 1e-6. We probably should not go above.

This non-atomic commit (which is bad) fix the following problems:
- Improve the stopping phase.
- Remove useless m_Q
- Remove useless BuildingConstantPartOfTheObjectiveFunctionQLD
and useless BuildingConstantPartOfTheObjectiveFunctionQLDANDLQ
- Rename Problem_s in ProblemVelRef_s