- Add computation of foot dynamics matrices
- Move interpolation to RBS::generate_trajectories
- Move initialize_dynamics to RBS
- Add enum types FootType PhaseType
- Move solution_t, support_state_t to privatepgtypes
- Add a margin of -T_/10 to TimeLimit
- Clean up

- Add initialization 
- Add acceleration and position dynamics

- Add initialization of members
- Add initialization of position matrices

- Add * Robot_
- Add initialization of * Robot_
- Add destruction of * IntermedData_
- Add documentation

Add * robot_

Add rigid-body.cpp/hh
Add rigid-body-system.cpp/hh

- Define NbStepsSSDS_ to be always the least nb of steps

- Add interpretation of :finish command
- Move support initialization to InitOnLine

- Instanciate IntermedQPMat outside of VRQPGen.
- Add call :stoppg
- Do cosmetics...

- Add setter for EndingPhase_ in ZMPVel.
- Add documentation
- Smaller clean-up

- Add QPProblem::reset() 

- Fix bug at line 239
- Eliminate warnings due to invalid comparisons
- Some refactoring

- Fix bug in convex_hull_t::rotate...
- Clean up in several files

Changed initialization of the CoM to take into account the height provided by the model.
The class LinearizedInvertedPendulum2D will be adapted soon to allow for variant height and multiple bodies.

Adapt names to prefered convention
Introduce security margin to the angular joint limits for the computation of the trunk velocity
Minor clean up

This will be further modified with boost:assign.