Merge branch 'topic/dynamic_filter_with_metapod_SlopeDF' of...

Merge branch 'topic/dynamic_filter_with_metapod_SlopeDF' of trac.laas.fr:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/dynamic_filter_with_metapod_StairsDF

ChangeLog

@@ -2,6 +2,18 @@ CHANGELOG
 ----------------------
 
 [Current]
+ * Correct bug introduced in 846be4ab58282d87.
+ * Merge pull request #20 from francois-keith/master
+ * Verify using an assertion that the foot is flat during the initialization of the walk.
+ * Simplify the chain building from the chest to the wrist.
+ * Add an assertion to avoid nul size of the sole.
+ * Use waist rather than root to create the chain.
+ * Remove useless IndexInVRML vector.
+ * Correct errors in debug mode.
+ * Correct OrientationsPreview: the order of left/right feet is no longer hard coded.
+ * Remove useless files (only the .hh were used).
+
+[3.1.8]
  * Since hrp2 is only needed for the tests, the dependency is declared in the tests.
  * Synchronize.
  * Merge pull request #19 from gergondet/topic/fixPGInitialization

src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp

@@ -42,7 +42,7 @@ OrientationsPreview::OrientationsPreview(CjrlHumanoidDynamicRobot *aHS)
   CjrlJoint * waist = aHS->waist();
   // left hip
   CjrlJoint * leftFoot  = aHS->leftFoot()->associatedAnkle();
-  CjrlJoint * leftHip   = aHS->jointsBetween(*waist, *leftFoot)[0];
+  CjrlJoint * leftHip   = aHS->jointsBetween(*waist, *leftFoot)[1];
   lLimitLeftHipYaw_  = leftHip->lowerBound(0);//-30.0/180.0*M_PI;
   uLimitLeftHipYaw_  = leftHip->upperBound(0);//45.0/180.0*M_PI;
   if (lLimitLeftHipYaw_==  uLimitLeftHipYaw_)
@@ -53,7 +53,7 @@ OrientationsPreview::OrientationsPreview(CjrlHumanoidDynamicRobot *aHS)
 
   // right hip
   CjrlJoint * rightFoot = aHS->rightFoot()->associatedAnkle();
-  CjrlJoint * rightHip  = aHS->jointsBetween(*waist, *rightFoot)[0];
+  CjrlJoint * rightHip  = aHS->jointsBetween(*waist, *rightFoot)[1];
   lLimitRightHipYaw_ = rightHip->lowerBound(0);//-45.0/180.0*M_PI;
   uLimitRightHipYaw_ = rightHip->upperBound(0);//30.0/180.0*M_PI;
   if (lLimitRightHipYaw_==  uLimitRightHipYaw_)