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.

- Add missing resize()

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

- 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.()

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

- add build_constraints_com
- move enums to privatepgtypes
- minor changes

- 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.

- Initialization in construct
- Align attribute names with convention

This was witnessed in TestHerdt.

Please check if this patch corrects or destroys the realization of others PGs.

- Documentation, Attribute names

TODO to complete this : Center the CoM at the end of a movement

- Document set_support_state

- Remove unfinished object door
- Some warnings (not all of them)

- Add compute_foot_zero_dynamics
- Add compute_foot_cjerk_dynamics

- Add trajectory deques for the supporting and the free foot
- Documentation

- Remove CoPDynamics_
- Add documentation
- Some cleaning

- Add method precompute_trajectory
- Replace FSM through PrwSupStates_deq

- 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