Clean console output, add non yet use function to interpolate the waist position using metapod

src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp

@@ -148,13 +148,6 @@ void LeftAndRightFootTrajectoryGenerationMultiple::SetAnInterval(unsigned int In
 					   FootInitialPosition.dtheta);
 
   // Omega
-  static int cunt = 1 ;
-  cout << "m_omega" << m_Omega << endl ;
-  cout << "Init omega = " << FootInitialPosition.omega << endl ;
-  cout << "Final omega = " << FootFinalPosition.omega << endl ;
-  cout << "set plynoome : " << cunt << endl;
-  cout << "####" << endl ;
-  cunt++;
   aFTGM->SetParametersWithInitPosInitSpeed(IntervalIndex,
 					   FootTrajectoryGenerationStandard::OMEGA_AXIS,
 					   m_DeltaTj[IntervalIndex],

src/ZMPRefTrajectoryGeneration/DynamicFilter.hh

@@ -130,6 +130,9 @@ namespace PatternGeneratorJRL
     void InverseDynamics(deque<ZMPPosition> inputZMPTraj_deq);
 
     metapod::Vector3dTpl< LocalFloatType >::Type computeCoM();
+
+    void computeWaist(const FootAbsolutePosition & inputLeftFoot) ;
+
     // -------------------------------------------------------------------
 
   public: // The accessors

src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp

@@ -62,15 +62,8 @@ OrientationsPreview::OrientationsPreview(CjrlHumanoidDynamicRobot *aHS)
     uLimitRightHipYaw_ = 45.0/180.0*M_PI;
   }
 
-  cout << "lLimitLeftHipYaw_ = " << lLimitLeftHipYaw_ * 180/M_PI << endl
-       << "uLimitLeftHipYaw_ = " << uLimitLeftHipYaw_ * 180/M_PI << endl
-       << "lLimitRightHipYaw_ = " << lLimitRightHipYaw_ * 180/M_PI << endl
-       << "uLimitRightHipYaw_ = " << uLimitRightHipYaw_ * 180/M_PI << endl ;
-
   uvLimitFoot_ = fabs(leftHip->upperVelocityBound(0));
 
-  cout << "upper velocity Limit Foot_ = " << uvLimitFoot_ << endl ;
-
   //Acceleration limit not given by HRP2JRLmain.wrl
   uaLimitHipYaw_ = 0.1;
   //Maximal cross angle between the feet