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Commit 7c8b4f8a authored by Andrei Herdt's avatar Andrei Herdt Committed by Olivier Stasse
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Add functions 

- Add methods
buildInequalitiesCoP,
buildInequalitiesFeet,
buildConstraints,
buildConstraintsCoP,
buildConstraintsFeet.
- Use of single sparse matrices instead of queues of small compact ones.
- Add method for initialization of matrices.
- Minor changes
parent ec24904c
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