Better executable names
Incorporate Andrew's OpenGL footstep code
Align code in CMakeLists.txt
Fix Footprint constructor
Remove trailing whitespace
Fix compilation warnings in footprint-test
Implement walkLine in terms of walkCircle

  * This also fixed a bug/TODO in walkCircle
  * Also small change in parameter names
Change footsteps interface and internals

  * Interface: Now you only pass the stance_foot
  * Internals: walkLine is now implemented in terms of walkCircle