debug the inverse kinematic, the parsing of the upperbody in the dynamic filter and the zmpmb computation

prepare the online morisawa.

- The algorithm has been tested with the StackOfTask on OpenHrp3.1 on Ubuntu 12.04 precise.
- The Beam movement with morisawa's algorithm has been tested and approuved.
- correct the use of the HRP2 specialized inverse geometry
- Modify sligthly some tests

TODO
- Need to finish the implementation on the online pattern generator of Morisawa.
- Need to set the z position of the foot on morisawa to 0.

Implements a test doing interpolation for hands and feet placement on a stair + hand rail setup.
Uses TestHirukawa2007.cpp for metapod usage debug.

- Implemented BSplines for foot trajectory along Y axis

Still some discontinuities in theta.

Modify the way the data of the ZMPVeolicityReferencedQP class are treated
continue the implementation of the dynamical filter of Kajita2003icra

Initialy the velocity and acceleration were the CoM's. This commit moved them to the waist, which is the default free flyer.

adding a new call method, clean a bit the class dynamicFilter, after a while there is a bug in the instanciation of a MAL_VECTOR, a segfault is launched

Adding the dynamic filter in the Herdt2010 PG.

Adding a 3rd stage in ComAndFootRealizationByGeometry.cpp to compute the corrected ZMPMB inside the PG.

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.

Otherwise there will be troubles at the beginning of the walk,
and discontinuities.

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

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