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Commit c6ff0b5a authored by mnaveau's avatar mnaveau
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introduce pinocchio inside the PG, Modify the Hirukawa PG to include the... 

introduce pinocchio inside the PG, Modify the Hirukawa PG to include the jacobians and the Eigen SVD.
correct bug in the angular part of the nmpc-generator cost function.
correct the instanciation of the obstacle using callMethod
parent ef4a61a0
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