manage the grippers and remove the comuptation of the statistic on the zmpmb when it is not computed

re-enable the creation of the openHRP files .pos .zmp .hip

correcte the dynamic filter, add precision to it in the SPPQ solver, take form the urdf the vector from the waist to the left and right hip respectively

debug the inverse kinematic, the parsing of the upperbody in the dynamic filter and the zmpmb computation

make all the trajectory meaningfull for morizawa com z and make all the important test running again.

enable feedback control on Naveau2015

enable the ffeback control on the pattern generator, still some stuff to debug with the DynamicFilter

put back to 2 step the preview of the pg. The dynamic filter preview is one step (it seems to capture most dynamic anyway)

Implemente the feedback function. (to be used inside a signal)

smoothen the trajectory of the zmpmb in the dynamic filter

introduce pinocchio inside the PG, Modify the Hirukawa PG to include the jacobians and the Eigen SVD.
correct bug in the angular part of the nmpc-generator cost function.
correct the instanciation of the obstacle using callMethod

- Add new class to manage the txt file with 3 methods (read, add text to the end, delete and add new text). It is still work in progress..
- Fixed the path to OpenHRP2 (now the pos zmp and waist are created inside bin folder)
- Removed function dummy

remove an additionnal memeber with the same fuctionnality in OnLineFootTrajectoryGeneration.cpp
Fix the callMethod to handle this step height member