Add computation of capture point dynamics

- Add cp member to LinearDynamics
Document and correct PrecomputeObjective

- Exchange gains on control and ZMP
Further documentation of QPBuilder::PrecomputeObjective
Add weight coefficients on the Capture point
Add capture point reference, objective, dynamics
Bugfix

- Correct gain on the control vector
Add Setter for the capture point reference
Improve computation of convex hulls

- Reduce convexHull to a getter
- Refactoring
Ensure that the state of the com is not update when loop closed
Move setting of weights to walk.cpp
Bugfix

- Move weight_coefficients_ to MPCParameters
- Refactor
Add computation and output of cp trajectories
Minor changes
Reference on the position is working well
Second order dynamics

- Correct eigenvalue decomposition
- Correct dumping of qp problem
- Some refactoring
Second order model working

- Ensure that input matrix is computed properly
State space representation

- Add cont_ss, discr_ss to LinearDynamics
- Some refactoring
Add assertions for mpc parameters
PID Control
Bugfix

- Ensure that constraints are initialized properly
	- Modify QPMatrix::Reset()