Remove useless files (only the .hh were used).
Correct OrientationsPreview: the order of left/right feet is no longer hard coded.
Correct errors in debug mode.
Remove useless IndexInVRML vector.
Use waist rather than root to create the chain.
Add an assertion to avoid nul size of the sole.
Simplify the chain building from the chest to the wrist.
Verify using an assertion that the foot is flat during the initialization of the walk.

Otherwise there will be troubles at the beginning of the walk,
and discontinuities.
Merge pull request #20 from francois-keith/master

Remove hard coded data (foot order), cleanup+simplify the code.