Added footprint comments, pulled footprint example into a new file.
Added footprint drawing function and Doxygen config file.
More comments.
Merge branch 'master' of github.com:golems/hubomz into integration

broken.

Conflicts:
	zmp/footprint.cpp
	zmp/footprint.h
convert footprints to use fakerave::Transform3s for compatibility.

Along the way, fix a bug in the test code where it wasn't handling
angle differences correctly when angles were almost the same modulo
2PI.
Merge remote-tracking branch 'remotes/origin/integration' into integration
Use the new footprint code to fix the bug in zmpdemo
properly initialize the HuboPlus& in zmpwalkgenerator
fix some typos in zmpwalkgenerator
change name of gait to gait-timer and refactor it and its tests/examples
tell build system to actually build footprint.cpp
update includes: need footprint, don't need zmp preview controller
move sigmoid function into zmp walk generator
finish filling out zmp walk generator private functions

should all be functional now! just need to start adding footsteps.
fix formatting and remove commented-out code in swing

keeping old code is what version control is for
Got it all integrated. not correctly - IK failures - but the code runs. Time for bed.