- Add QPProblem::reset() 

- Fix bug at line 239
- Eliminate warnings due to invalid comparisons
- Some refactoring

- Fix bug in convex_hull_t::rotate...
- Clean up in several files

Changed initialization of the CoM to take into account the height provided by the model.
The class LinearizedInvertedPendulum2D will be adapted soon to allow for variant height and multiple bodies.

Adapt names to prefered convention
Introduce security margin to the angular joint limits for the computation of the trunk velocity
Minor clean up

This will be further modified with boost:assign.

Default bound on hip joints angular velocity are very important for robot
models which do not define them. This is the case for the sample robot.
If no default bound are defined, the robot does not turn...

When checking, please be careful to have your wireless connection off.
It might jam the time profile.

When trying an array of data one should test if the size is zero.
Indeed in such case, the time to handle the error by the system can be prohibitive.

This commit lower the time to allocate memory from 18 ms to 8 ms.

A better policy would be to allocate memory when called by the control
part which is not supposed to in the real-time part of the controller.

- Move templates to .hxx
- Unify naming of members

- FootConstraintsAsLinear... to RelativeFeetInequalities

- Move interpretation of result to OnLineFootTraj...
- add method check_solution(...)
- Slight change of private member names

- Remove interpolateTrunkState(...)
- Remove obsolete members

for computation of global reference

- add interpolate_trunk_orientation
- hide implementation
- move some members to locally declarated variables
- remove dumping procedures
- add accessors
- simplify constructor call
- add documentation