(GaitGenerator.*) : Support rectangle foot swing orbit
Merge pull request #236 from snozawa/add_rectangle_foot_swing_trajectory

Support rectangle foot swing orbit
hrpsys_config.py) PEP8 improvement
Merge pull request #237 from 130s/pep8_hrpsysconfig

(hrpsys_config.py) PEP8 improvement
(hrpsys_config.py) getCurrentPosition w/o arg returns all EEF positions (fix to https://github.com/start-jsk/rtmros_hironx/issues/102))