A duality between $q$-multiplicities in tensor products and $q$-multiplicities of weights for the root systems $B,C$ or $D$

Starting from Jacobi-Trudi's type determinental expressions for the Schur functions corresponding to types $B,C$ and $D,$ we define a natural $q$-analogue of the multiplicity $[V(\lambda):M(\mu)]$ when $M(\mu)$ is a tensor product of row or column shaped modules defined by $\mu$. We prove that these $q$-multiplicities are equal to certain Kostka-Foulkes polynomials related to the root systems $C$ or $D$. Finally we derive formulas expressing the associated multiplicities in terms of Kostka numbers.