Enhance jerk gain

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

@@ -107,7 +107,7 @@ ZMPVelocityReferencedQP::ZMPVelocityReferencedQP(SimplePluginManager *SPM,
   VRQPGenerator_->initialize_matrices();
   VRQPGenerator_->Ponderation( 1.0, IntermedQPMat::INSTANT_VELOCITY );
   VRQPGenerator_->Ponderation( 0.000001, IntermedQPMat::COP_CENTERING );
-  VRQPGenerator_->Ponderation( 0.000001, IntermedQPMat::JERK_MIN );
+  VRQPGenerator_->Ponderation( 0.00001, IntermedQPMat::JERK_MIN );
 
   Door_.initialize( -M_PI/2.0 );
   Door_.SamplingTime( QP_T_ );