test fail for the going down stairs 15cm, succeeded without dynamic filter

Implements a test doing interpolation for hands and feet placement on a stair + hand rail setup.
Uses TestHirukawa2007.cpp for metapod usage debug.

      TODO retest all the trajectories in simulation and in reality

-Includes C² trajectory for the com and the zmp in z.
-Inculdes Bsplines that satisfy initial and final condition for the foot trajectories.
-Implements foot trajectories for stepping stones, stairs up and down.
	    need some work on the beam trajectories.

fix bug in the com vertical trajectories

TODO check the corretness of the bsplines trajectories

There where auto-collision and singularities

Implemented the offsted along Y to have curving motion

-- Not working --

Merge branch 'topic/walkingclean' of trac:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/merge

Merge branch 'topic/walkingclean' of trac:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/merge

Merge branch 'topic/walking_clean' of trac:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/merge

Conflicts:
	src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
	src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp

- Implemented BSplines for foot trajectory along Y axis

in the morisaw's PG

implement correctly the foot trajectory along the vertical axis using BSpline

Merge branch 'topic/walkingclean' of trac.laas.fr:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/walking_clean

Conflicts:
	tests/TestMorisawa2007.cpp

- ComputeAllWithPolynom
- ComputeAllWithBSplines

Introduces BSplines for X and Y axes