First walking version. Still have a segfault at desallocation, and a random crash (abord for negative Kp gain ...).

Previous commit is not properly taged: first version, working only for the COM task. Alternance has now to be set to release contact for each step.

A first version using the projected line feature. It is working in close loop, with an instability in open loop, for example when introducing a secondary task.,

Conflicts:
	CMakeLists.txt
	python/dyndebug.py
	src/dynamic_graph/sot/dyninv/__init__.py