allow the restriction of the evolution of the foot step rotation independently from the foot step position

enable feedback control on Naveau2015

get continuous trajectory as output, still diverge with the dynamic filter

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

put back to 2 step the preview of the pg. The dynamic filter preview is one step (it seems to capture most dynamic anyway)

Implemente the feedback function. (to be used inside a signal)

smoothen the trajectory of the zmpmb in the dynamic filter

The online PG of morisawa can't be used for stair climbing yet.

Fix the com altitude finite state machine in the Morisawa PG. This apply for the getZMPDiscretization.

correct comparison warning in bspline test

Question is : how to initialiaze the algorithm for the ext time interval?

complete the gitignore file
implemet the forward moemntum (not tested)

introduce pinocchio inside the PG, Modify the Hirukawa PG to include the jacobians and the Eigen SVD.
correct bug in the angular part of the nmpc-generator cost function.
correct the instanciation of the obstacle using callMethod

add a reference inside the head of the onlinedynamicfilter function to avoid copying the zmps over the preview.
Diminish the size of the preview in herdt2010 to fit real time performance