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Speed up computation
- move build_invariant_part to InitOnLine() - avoid recomputation of cop in single-body mode
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- src/PreviewControl/rigid-body-system.cpp 122 additions, 106 deletionssrc/PreviewControl/rigid-body-system.cpp
- src/PreviewControl/rigid-body-system.hh 19 additions, 11 deletionssrc/PreviewControl/rigid-body-system.hh
- src/PreviewControl/rigid-body.hh 1 addition, 1 deletionsrc/PreviewControl/rigid-body.hh
- src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp 26 additions, 21 deletionssrc/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
- src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h 9 additions, 7 deletionssrc/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
- src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp 1 addition, 1 deletionsrc/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
- src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh 3 additions, 4 deletionssrc/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
- src/ZMPRefTrajectoryGeneration/qp-problem.cpp 83 additions, 46 deletionssrc/ZMPRefTrajectoryGeneration/qp-problem.cpp
- src/ZMPRefTrajectoryGeneration/qp-problem.hh 22 additions, 7 deletionssrc/ZMPRefTrajectoryGeneration/qp-problem.hh
- src/privatepgtypes.h 12 additions, 0 deletionssrc/privatepgtypes.h
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