make pg compatible with dynamic-graph3.0.0

.gitignore

cmake

include/sot-pattern-generator/next-step.h

include/sot-pattern-generator/pg.h

include/sot-pattern-generator/selector.h

include/sot-pattern-generator/step-computer-force.h

include/sot-pattern-generator/step-computer-joystick.h

include/sot-pattern-generator/step-computer-pos.h

include/sot-pattern-generator/step-computer.h

include/sot-pattern-generator/step-observer.h

include/sot-pattern-generator/which-foot-upper.h

src/next-step.cpp

src/pg.cpp

src/selector.cpp

src/step-computer-force.cpp

src/step-computer-pos.cpp

src/step-observer.cpp

src/which-foot-upper.cpp