Add maxheight argument to ana's cycloid code

Simple vertical scaling
Corrected zmp function declarations
half done with integration. committed so eric can work on it.
merge master into integration
Merge branch 'integration' of github.com:golems/hubomz into integration
Added the file
Merge branch 'integration' of github.com:golems/hubomz into localIntegration
added comments and fixed an error at line 534
committing the framework of the zmpwalkgenerator that Matt wrote
halfway through rebuilding zmpdemo.cpp
Merge branch 'master' of github.com:golems/hubomz into integration

Conflicts:
	zmp/footprint.cpp
	zmp/zmpdemo.cpp
zmpdemo uses the walk generator now and compiles nicely.

the walk generator... doesn't. Have fun! :P
index on integration: c483665 committing the framework of the zmpwalkgenerator that Matt wrote
WIP on integration: c483665 committing the framework of the zmpwalkgenerator that Matt wrote
Add quick footprint hack for conversion purposes.
added zmpPreview, comIK and dumpTraj functions
Merge branch 'integration' of https://github.com/golems/hubomz into integration
Merge branch 'master' of github.com:golems/hubomz into integration

broken.

Conflicts:
	zmp/footprint.cpp
	zmp/footprint.h
still fixing stuff
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.