do feet transform in controller

include/qrw/FootTrajectoryGenerator.hpp

include/qrw/Solo3D/FootTrajectoryGeneratorBezier.hpp

python/FootTrajectoryGenerator.cpp

python/Solo3D/FootTrajectoryGeneratorBezier.cpp

python/quadruped_reactive_walking/Controller.py

...n/quadruped_reactive_walking/solo3D/pyb_environment_3D.py

python/quadruped_reactive_walking/tools/PyBulletSimulator.py

src/Controller.cpp

src/FootTrajectoryGenerator.cpp

src/Solo3D/FootTrajectoryGeneratorBezier.cpp