The symptoms only appear when walking and turning.
After a turn on the stop, the robot may start turning
in the other direction (even when asking for a straight walk).

Remove hard coded data (foot order), cleanup+simplify the code.

Otherwise there will be troubles at the beginning of the walk,
and discontinuities.

Using this trick, the dependency in hrp2 is removed from the
jrl-walkgen.pc file.

Topic/fix pg initialization

Not all structures (especially private ones) have an ostream operator because I
did not need them this time, not for any technical reason

Fix Herdt's PG final position and running signal

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.

The graphs have to be checked.

This will avoid path issues with hrp2 ressources