Catching analysis bugs

* Analyze
Added code to save the genome and sequence as part of the output file.
Solved the issues with weird limit cycles (first slopes around 0 and
other problematic slopes) by resetting the biped's position to (0,0)

* DisplayGen
Improved the GUI. Added code to skip areas where the controller failed.
Used "ConnectVectors" to straighten lines with "jumping" points.
Added "Foot design" menu option to find the best foot size for ZMP
compliance.

* GetCleanPulses
Improved the automatic "cleaning" of impulses from the torque signal.