Merge branch 'master' into topic/SQP_5ms_pinocchio and try to debug the zmp computation in the pinocchio robot

Conflicts:
	.travis
	src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.hh
	src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp
	tests/CMakeLists.txt
	tests/TestNaveau2015.cpp