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

With the use of spatial algebra in JRL-dynamics ZMP needs
backward dynamics computation for proper evaluation.
The internal setting of the WPG used an approximation of
the momentum derivatives previously implemented in JRL-dynamics.
This commit fix this problem and the references for the unitary
test.

This should be also validate with the simple-humanoid and not
HRP-2.