fix the use of the inverse kinematics with pinocchio

include/jrl/walkgen/pinocchiorobot.hh

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/MotionGeneration/ComAndFootRealizationByGeometry.hh

src/RobotDynamics/pinocchiorobot.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

src/ZMPRefTrajectoryGeneration/DynamicFilter.hh

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp

src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp

src/ZMPRefTrajectoryGeneration/nmpc_generator.hh

tests/CMakeLists.txt

tests/TestNaveau2015.cpp

tests/TestObject.cpp

tests/TestObject.hh