Adding oder 7 polynome to be used to compute X,Y,Theta position for the feet.
Do a little cleanup of the computation of the foot position.

Creation of function that compute the position of a third step to interpolate elong the whole preview contrl, still debugging.

Adding security a security that block the computation of the dynamic filter while sending 0.0 velocity as command

try with continuous buffer, worst results... but maybe not comming from this calculation of the buffers.

Elie Moussy authored 11 years ago and olivier stasse committed 11 years ago

Conflicts:

	src/PreviewControl/PreviewControl.cpp
	src/ZMPRefTrajectoryGeneration/OnlineStepPositionTrajectoryGeneration.cpp
	src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
	src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

The graphs have to be checked.

With the use of spatial algebra in JRL-dynamics ZMP needs
backward dynamics computation for proper evaluation.
The internal setting of the WPG used an approximation of
the momentum derivatives previously implemented in JRL-dynamics.
This commit fix this problem and the references for the unitary
test.

This should be also validate with the simple-humanoid and not
HRP-2.

- Add missing resize()

- move build_invariant_part to InitOnLine()
- avoid recomputation of cop in single-body mode

- The position of the current support foot is considered
- introduce VcX,VcY,VcshiftX,VcShiftY,Vc_fX,Vc_fY
- move resize of N_-dependent matrices to gen._sel_mat.()

- introduce axis_e
- extend convex_hull_t:
	- add Inequalities
	- add clear()
	- add cout()
- remove AxesType
- remove old copy of compute_linear_system()

- add build_constraints_com
- move enums to privatepgtypes
- minor changes

- introduce objective_e, dynamics_e, ineq_e
- move enums to privatepgtypes
- remove dynamics_s in IntermedQPMat
- remove time measuring in OnLine()
- add * RFI_ in GenVelRef_
- add computed rotations to SupportStates_deq
- improve computation of inequalities
- set correct velocities in TestHerdt2010

Especially in initialization list.

- Initialization in construct
- Align attribute names with convention

This was witnessed in TestHerdt.

Please check if this patch corrects or destroys the realization of others PGs.

- Documentation, Attribute names

TODO to complete this : Center the CoM at the end of a movement

- Document set_support_state

- Remove unfinished object door
- Some warnings (not all of them)