Massive commit to fix several bugs and for book keeping

include/jrl/walkgen/pinocchiorobot.hh

src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp

src/GlobalStrategyManagers/GlobalStrategyManager.cpp

src/Mathematics/FootHalfSize.cpp

src/Mathematics/FootHalfSize.hh

src/Mathematics/relative-feet-inequalities.cpp

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/PatternGeneratorInterfacePrivate.cpp

src/PreviewControl/PreviewControl.cpp

src/PreviewControl/ZMPPreviewControlWithMultiBodyZMP.cpp

src/PreviewControl/rigid-body-system.cpp

src/RobotDynamics/pinocchiorobot.cpp

src/StepStackHandler.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaAbstract.hh

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp

src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh

...fTrajectoryGeneration/ZMPConstrainedQPFastFormulation.cpp

...efTrajectoryGeneration/ZMPConstrainedQPFastFormulation.hh

src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp

src/ZMPRefTrajectoryGeneration/ZMPDiscretization.hh