TODO use the dynamic filter on it

introduce the case of standing stil inside the PG. To be verified after full intergration inside jrl-walkgen

correct a bug in reference_t::frame_t::frame_t(const frame_t & F): where the copy where not good (old : x=x y=x!)

overload a function of OnLineFootTrajectoryGeneration to do so

adding debug code, and disable them commenting out "#define DEBUG"

remove a display

prepare the online morisawa.

- The algorithm has been tested with the StackOfTask on OpenHrp3.1 on Ubuntu 12.04 precise.
- The Beam movement with morisawa's algorithm has been tested and approuved.
- correct the use of the HRP2 specialized inverse geometry
- Modify sligthly some tests

TODO
- Need to finish the implementation on the online pattern generator of Morisawa.
- Need to set the z position of the foot on morisawa to 0.

- finish the good computation for bspline without point in the middle, the other need checking and dynamic simulation to be sure.
- fix a bug in the interpolation of the COM/ZMP in herdt 2010.

Enable interpolation at the acceleration level for with the bspline.

get rid of metapod inside jrl-walkgen

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