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

The graphs have to be checked.

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.

This reverts commit da10c2d6.

Conflicts:

	src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.h
	src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
	src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h

- Add missing resize()

(aka a humanoid robot without upper body...)

DLR Biped do not have arms...

- move build_invariant_part to InitOnLine()
- avoid recomputation of cop in single-body mode

- use of iterators
- correct resize logic

- The position of the current support foot is considered
- introduce VcX,VcY,VcshiftX,VcShiftY,Vc_fX,Vc_fY
- move resize of N_-dependent matrices to gen._sel_mat.()

- add shifted selection matrix
- add convex_hull_t CoMHull_
- add set_inequalities
- add build_inequalities_com
- rewrite build_constraints_com
- add addition of ublas::matrix in vector DS
- smaller refactoring

- introduce axis_e
- extend convex_hull_t:
	- add Inequalities
	- add clear()
	- add cout()
- remove AxesType
- remove old copy of compute_linear_system()

- yet another unnecessary piece of work

- avoid copy of FootAbsolutePosition object
- consider position at end of SS phase
- rename T_Ctr_, T_Prw_

- add build_constraints_com
- move enums to privatepgtypes
- minor changes

- exchange Left and RightFPos... 
- exchange ZMP/FOOT_CONS... by ineq_e

- introduce objective_e, dynamics_e, ineq_e
- move enums to privatepgtypes
- remove dynamics_s in IntermedQPMat
- remove time measuring in OnLine()
- add * RFI_ in GenVelRef_
- add computed rotations to SupportStates_deq
- improve computation of inequalities
- set correct velocities in TestHerdt2010

Especially in initialization list.

- Document
- Add iterator for more efficiency
- Remove redundancy
- Restructure