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

Creation of function that compute the position of a third step to interpolate elong the whole preview contrl, still debugging.

the modification bring contunous CoM and ZMP along time but increase the error between the zmp ref and the zmp multibody

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

	it creates files that can be used by openhrp to replay the solution
of the test on the robot in kinematics simulation mode

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

This test covers more widely some functionnalities of the Herdt PG.
The results should be checked again. Some asymmetries arise and
are too important to be explained only by the constraints.