* Revert "Interpolation of height with fifth order polynomials"
* Add vim swap files to .gitignore
* Synchronize.
* Make multi-body mode work
* Speed up computation
* Speed up add_term()
* Change the computation of selection matrices Vc..
* Merge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into topic/toes
* Constraints on the com
* Merge branch 'topic/rc-v3.1.4 into topic/toes
* Enums and convex hull
* Remove PLDPHerdt ;(
* temporary
* Merge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into toes
* change sign of foot constraint area in y-axis
* change sign for foot constraint in y-axis
* add access function of QP_N
* remove dependency of ROBOT
* Merge branch 'topic/rc-v3.1.4' into topic/toes
* Introduce pointer, rename
* Complete the list of maneuvers in TestHerdt2010
* Correct insertion of constraints
* CoM constraints, enums, clean up
* ...missing in the previous commit...
* Enums, rotations, clean up,
* Warning removal
* Improve, clarify and cohere compute_warm_start()
* Clean up
* Change enum type names and clean up
* Update indentation
* typo 2
* Typo
* UseWarmstart must be false if you dont use LSSOL
* Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into rc-v3.1.4
* Add the computation of initial solution wich respect all the constraints note : used in LSSOL (QLD don't support this)
* correct a segfault in LSSOL
* Add a comment
* compute the inverse of COP dynamic matrix U
* m_Degree must be initialize in the constructor
* COP double support constraint was wrong because security margins was counted two times
* Initialization + Attribute names
* Omit setting of velocity reference :HerdtOnLine
* Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into topic/rc-v3.1.4
* Include verification of sup. phase before interpretation
* Add a buffer to the modification of velocity reference It's usefull to avoid multi-thread problems
* Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into HEAD
* comment the part which concern the multi-body dynamics, because it's unused
* A minor bug with parenthesis (did not affect the program behavior)
* uninitialized data
* First part of warm-start with LSSOL
* Add interpolation of trunk orientations for N_ instants
* Correct a bug introduced in commit 5efc71.
* Add a patch in rigid-body-system to avoid wrong memory access.
* Correct test + warning removal.
* Move reset to the beginning of online routine
* Smaller refactoring
* I think there are five arguments...
* Add missing initialization in CallMethod
* Correct the type of an attribute (should be int rather than double).
* Add a patch preventing wrong memory access.
* Fix overflow problems inside for loops
* Align and complete previous commits
* Avoid the fall of the robot if it completed a pure rotation TODO to complete this : Center the CoM at the end of a movement
* Rename compute_term into multiply_terms
* Optimize and clarify the code
* Add a comment in OrientationsPreview class
* remove obsolete contents
* Correct a minor warning
* Documentation
* Remove object and warnings
* Correct the declaration of verify_angle_hip_joint. One of the parameters cannot be const.
* Remove debug traces et restore the use of QLD by default.
* Minor corrections in documentation
* Correct some rebase errors
* Add the second derivative for x,y,z,theta,omega and omega2.
* Use Polynomes of degree 5/6 instead of 3/4
* Add methods to initialize the Polynome of degree 5/6
* Simple rewriting of the code
* Add the computation of the second derivative to Polynome
* Correct typos
* Adding const operator wherever it's possible
* The link with lssol is now optional
* Add LSSOL solver to qp-problem and add some online tests for these Note : LSSOL sources are not included
* Disactivate equality constraints on feet positions
* remove cout
* Enhance jerk gain
* Minor changes
* Minor changes
* Method + minor bugfix
* Add methods for dynamics computation
* Add members and documentation
* Use of SupportStates_deq
* New method, some minor improvements
* :finish is deprecated for ZMPVelRef
* Minor changes
* Move solution interpretation and resize to OLFTG
* - Introduce enum type QPElement - Introduce enum type Solver - Remove predefined QP size - The first row of the constraints matrix is now zero!!! - m =
* Remove old CoP dynamics computation, doc., cleaning
* Change vertical interpolation to two order 5 polynomials
* Add computation of three-body cop dynamics
* Interpolation of height with fifth order polynomials
* Trajectory precomputation
* Add NbInstants to support_state_t
* see previous commit...
* Add precomputation of trajectory
* Remove obsolete todos
* Add member StepHeight_ and accessors
* Add computation of second derivative
* Move second derivative computation to parent class
* Include foot dynamics + Move declaration of types
* See previous commmit
* Switch to fifth order polynomials
* Move specification of dynamics to rigid-body...
* Minor bugfix
* Initialization
* Initialization
* New instance, documentation, pointer destruction
* Minor cleaning
* Add pointer member to simplified model
* Merge branch 'topic/new-classes' into topic/door
* Introduce classes for simulation of rigid bodies
* Complete unmerged details
* Merge topic/rc-v3.1.4
* Clean up and restructure slightly
* Bugfix
* Modify FSM to solve instability issues at the beginning
* The door is opening. The frontal constraints have to be verified
* Bugfixes, door fixed
* Minor changes
* PG cancellation and initialization
* Add call and move IQPMat
* Remove debug message
* Accessor, documentation
* Add external constraints on the CoM
* Merge with topic/rc-v3.1.4
* Minor temporary changes
* Add method
* Smaller refactoring
* Bugfix, Warnings, Refactoring
* Bugfix and clean up
* Bugfix and reformulation
* Add computation of external constraints and CoM position dynamics
* Add new object Door
* Add accessor to the constraints number and bugfix
* Add accessor to position matrices
* Add external object door
* Temporary change of the CoM initialization
* Documentation, clean up and bugfix
* Reformulated tests for Herdt2010 algorithm.
* Typo
* Add velocity output for the trunk direction, and bounds on hip joints angular velocity.
