adding different cmake_metapod_config.cmake wich define paths to the url files of simple_humanoid or hrp2_14

try by using the simple_humanoid.hh simple_humanoid.cc config.hh in the folder they are suppose to be created by MetapodFromUrdf.

Adding to the pattern generator of Herdt (in ZMPVelocityReferencedQP) the dynamic filter also implemented in the ZMPPreviewControlWithMultiBodyZMP.
The goal of this branch is also to use the template library metapod to calculate the filter (metapod is not currently linked to the code at this commit)

This will avoid path issues with hrp2 ressources

The compilation and link informations should now be gathered in a .pc file

This reverts commit 7a49aa1b.

When checking, please be careful to have your wireless connection off.
It might jam the time profile.

O2 with -DNDEBUG is faster than O3 and previous flags
on a Xeon 3.2 GHz with 2Mb of L2 cache.

The flags needs further investigation.

More specifically take into account the new headers of
abstract-robot-dynamics.