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Commit 633b094c authored by Andrei Herdt's avatar Andrei Herdt
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Change the computation of selection matrices Vc.. 

- The position of the current support foot is considered
- introduce VcX,VcY,VcshiftX,VcShiftY,Vc_fX,Vc_fY
- move resize of N_-dependent matrices to gen._sel_mat.()
parent 96412cd3
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