TODO verify whole body trajectories

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.

minor modification off output debug in the rest of the files

Still some discontinuities in theta.

Modify the way the data of the ZMPVeolicityReferencedQP class are treated
continue the implementation of the dynamical filter of Kajita2003icra

Continue the work on Herdt online

Adding equality constraint in the QP of the Herdt2010 algortihm to limit the evolution of the feet close to the landing time.
Few correction on the Morisawa's PG

Creation of function that compute the position of a third step to interpolate elong the whole preview contrl, still debugging.

the modification bring contunous CoM and ZMP along time but increase the error between the zmp ref and the zmp multibody

Developping the herdt test to compute the difference between the multi body ZMP and the ZMP of reference
At this point the error is 5mm in X and 1mm in Y with average time consuption of 10ms per iteration

Adding security a security that block the computation of the dynamic filter while sending 0.0 velocity as command