Change copyright.
Modify stack of constraints during animation.

  * Remove waist height constraint, replace it by waist height
    interpolation.
  * Add waist rotation interpolation constraint.
Write solution path to file when animation is done.

  * This commit is a hack solution.
  * It is due to the fact that in KiteLab 2.06, all paths components
    have waypoints components; for some reason this causes the
    Planner::addPath method to fail adding long paths in the GUI.
Log ankle transformation if no support polygon is found.
Redefine OpenHRP dof mapping.

  * The remapping is due to the dof order change after parsing URDF
    model.
  * This is not yet a clean solution, but it works for now.