added classification of foot contacts break/strike
added classification of foot contacts break/strike

- 8-state classifer: l/r and break,swing,strike,stand
-- added 2 pairs of Schmitt Triggers for this
- ignore kinematics during strike
- have height uncertainty kinematics during break for much longer time
  (0.75 xyz, 1 angle)

2 sensors: imu+kinematics
- typical stepping, wrong normals, long stepping is marginally worse
- manip is quite a bit worse - probably because of rejecting velocity
  constraints when actually still
- dynamic is much better - particularly in x/y
- wrong normals and continous unchanged effected

3 sensors:  +lidar
- long stepping the same
- typical is much better (50% better)
- manip is marginally worse
- dynamic is much better. almost negligable error left after convergence
- wrong normals and continous unchanged effected


result is that:
- difficult logs are much better (dynamic walking)
- easier logs are slight worse (2 sensors) or about the same (3 sensors)
-- this is probably because the lidar has a chance to correct position
   more
-- easier logs are probably worse because the uncertain mode allows the
   IMU to drift without anything correcting it.

- TODO: properly fix the robot when standing

openhumanoids/signal-scope,openhumanoids/signal-scope,mitdrc/signal-scope,openhumanoids/signal-scope,mitdrc/signal-scope,mitdrc/signal-scope