Generate trajectories put as a method of TestObject.cpp

rename the TestNaveau2015TestFGPI.datref.cmake

Still some discontinuities in theta.

Developping the herdt test to compute the difference between the multi body ZMP and the ZMP of reference
At this point the error is 5mm in X and 1mm in Y with average time consuption of 10ms per iteration

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

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

problems with the buffers and the interpolations.

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