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righ foot.

Did not find a way to automatize the 80 cols policy.

Working version with Talos and dynamical filter.
Computation time needs to be checked.

and faster debugging.

Not tested yet.

Not tested yet.

Elie Moussy authored Sep 11, 2013 and olivier stasse committed Sep 17, 2013

Conflicts:

	src/PreviewControl/PreviewControl.cpp
	src/ZMPRefTrajectoryGeneration/OnlineStepPositionTrajectoryGeneration.cpp
	src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

With the use of spatial algebra in JRL-dynamics ZMP needs
backward dynamics computation for proper evaluation.
The internal setting of the WPG used an approximation of
the momentum derivatives previously implemented in JRL-dynamics.
This commit fix this problem and the references for the unitary
test.

This should be also validate with the simple-humanoid and not
HRP-2.