Clean and refactor gait class

README.md

config/walk_parameters.yaml

include/qrw/Gait.hpp

include/qrw/Solo3D/FootTrajectoryGeneratorBezier.hpp

python/Gait.cpp

python/Solo3D/FootTrajectoryGeneratorBezier.cpp

scripts/Controller.py

scripts/solo3D/pyb_environment_3D.py

scripts/tools/LoggerControl.py

src/Controller.cpp

src/FootTrajectoryGenerator.cpp

src/FootstepPlanner.cpp

src/Gait.cpp

src/Solo3D/FootTrajectoryGeneratorBezier.cpp

src/Solo3D/FootstepPlannerQP.cpp

src/WbcWrapper.cpp