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add nd_trajectory_generator entity

Merged add nd_trajectory_generator entity
fforget/sot-talos-balance:devel into devel
Merged Florent Forget requested to merge fforget/sot-talos-balance:devel into devel

Add a trajectory-generator entity to generate vector trajectories (joint, COM, FOOT ...) entity tested in unittest/python/test_jointTrajGen.py

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