Refactoring

include/qrw/FootTrajectoryGenerator.hpp

include/qrw/FootstepPlanner.hpp

include/qrw/Gait.hpp

include/qrw/StatePlanner.hpp

python/gepadd.cpp

scripts/Controller.py

scripts/Planner.py

scripts/main_solo12_control.py

src/FootTrajectoryGenerator.cpp

src/FootstepPlanner.cpp

src/Gait.cpp

src/StatePlanner.cpp