Merge tag 'v4.2.1'

CMakeLists.txt

cmake

doc/PatternGeneratorMain.out

include/jrl/walkgen/configJRLWPG.hh

include/jrl/walkgen/pinocchiorobot.hh

package.xml

private_cmake/config_private.hh.cmake

src/CMakeLists.txt

src/Clock.cpp

src/Debug.hh

...TrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp

...TrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp

...TrajectoryGeneration/FootTrajectoryGenerationStandard.cpp

...neration/LeftAndRightFootTrajectoryGenerationMultiple.cpp

...otTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp

src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp

...balStrategyManagers/DoubleStagePreviewControlStrategy.cpp

src/GlobalStrategyManagers/GlobalStrategyManager.cpp

src/Mathematics/AnalyticalZMPCOGTrajectory.cpp

src/Mathematics/Bsplines.cpp