To avoid confusion, the models to be inespected must be loaded from problem models

best I got so far

1 quadratic with mistmatch of derivatives,
2 linear
3 good one

still have to modify the interpolation

Factorized plots

Multiprocess mpc

See merge request !29

# Conflicts:
#   python/quadruped_reactive_walking/Controller.py
#   python/quadruped_reactive_walking/tools/LoggerControl.py