Creation d une nouvelle instance de CoMandFootRealizationByGeometrie pour le calcul du filtre dynamique dans Herdt.

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

Increasing the size() of the temporary buffer ans try to file them properly. The programme return "info on inconsistent constraint"

problems with the buffers and the interpolations.

adding different cmake_metapod_config.cmake wich define paths to the url files of simple_humanoid or hrp2_14

try by using the simple_humanoid.hh simple_humanoid.cc config.hh in the folder they are suppose to be created by MetapodFromUrdf.

Adding to the pattern generator of Herdt (in ZMPVelocityReferencedQP) the dynamic filter also implemented in the ZMPPreviewControlWithMultiBodyZMP.
The goal of this branch is also to use the template library metapod to calculate the filter (metapod is not currently linked to the code at this commit)

Fix Herdt's PG final position and running signal

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

This test covers more widely some functionnalities of the Herdt PG.
The results should be checked again. Some asymmetries arise and
are too important to be explained only by the constraints.