enable the ffeback control on the pattern generator, still some stuff to debug with the DynamicFilter

remove an additionnal memeber with the same fuctionnality in OnLineFootTrajectoryGeneration.cpp
Fix the callMethod to handle this step height member

TODO use the dynamic filter on it

- 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.

- finish the good computation for bspline without point in the middle, the other need checking and dynamic simulation to be sure.
- fix a bug in the interpolation of the COM/ZMP in herdt 2010.

Adding the dynamic filter in the Herdt2010 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.

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