fix the size in the commonInitialization vector of call_method strings
add the test in 64bits
remove a useless include in the SQP solver

correcte the dynamic filter, add precision to it in the SPPQ solver, take form the urdf the vector from the waist to the left and right hip respectively

debug the inverse kinematic, the parsing of the upperbody in the dynamic filter and the zmpmb computation

make all the trajectory meaningfull for morizawa com z and make all the important test running again.