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 reverts commit 1d499735.

This reverts commit 108a9cb3.

This reverts commit f907fa26.

This reverts commit 9db77466.

When trying an array of data one should test if the size is zero.
Indeed in such case, the time to handle the error by the system can be prohibitive.

This commit lower the time to allocate memory from 18 ms to 8 ms.

A better policy would be to allocate memory when called by the control
part which is not supposed to in the real-time part of the controller.

More specifically take into account the new headers of
abstract-robot-dynamics.