- Remove
BuildingConstantPartOfConstraintMatrices
buildConstraintMatricesPLDPHerdt
InitConstants
computeCholeskyOfQ

- other minor cleanings

- Make solver parameters of qp-problem private
- Add solution class to qp-problem
- Add methods resize, dump and print to the solution class
- Improve documentation

- m_Alpha ... m_Gamma
- debugConstructor
- InitializeMatrixPbConstants
- SetAlpha ... GetBeta
- dumpProblem
- buildConstraintMatrices
- ODEBUGS
- debugMatrix
- Matrix/VectorType
- m_PPu ... m_Uc
- computeLinearSystem

- Add documentation

- Dumping of boost matrices now done by IntermedQPMat

- Remove methods addTerm for direct manipulation of problem arrays
(now done by qp-problem itself)
- Remove dumpProblem (same as above)
- Bugfix
- Documentation
- Minor changes

- Add resize() to linear_inequality_t
- Minor changes

- 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

- Add struct dynamics
- Add members for dynamics and linear inequalities
- Add accessors
- Add selection matrices
- Add operator and method for dumping

instead of variables of a custom type

- Compressed matrices x.D and y.D and dense vector dc
- clear() method for zeroing

- Add methods clear(array) and clear(array, range)
- Add size verification of added matrices
- Minor changes

generateIneqFeet(...)
generateIneqCOP(...)

- Introduce structs for zmp and feet convex hulls

- Add type convex_hull_t
- Add method resize(int&)
- Add method reset(void)
- Add method set(double*,double*)
- Add method rotate(double&)

- Use of ublas::compressed_vector to respond to sparsity of constraints

- Add buildConstraintInequalities

Clean and restructure FCALSFVelRef

- Add Documentation
- Add private functions setVertives, setFeetDimensions, initConvexHulls
- Add private members
- Change member names

- Remove dumping of variables

- Not needed anymore

- computeObjective is not needed anymore.

- Add constructor, reset() and operator= to support_state_s
- Add solution type

- Move initialize() to resize()
- Replace memset by for()
- Use templates to remove redundant code
- Initialize bounds always to 1e8/-1e8

-Add methods addTerm
-Methods dumpMatrix & dumpVector -> dump

- Add method preview
- Add method computeGlobalReference
- Remove deprecated methods updateProblem