add a reference inside the head of the onlinedynamicfilter function to avoid copying the zmps over the preview.
Diminish the size of the preview in herdt2010 to fit real time performance

TODO verify whole body trajectories

- Add new class to manage the txt file with 3 methods (read, add text to the end, delete and add new text). It is still work in progress..
- Fixed the path to OpenHRP2 (now the pos zmp and waist are created inside bin folder)
- Removed function dummy

remove an additionnal memeber with the same fuctionnality in OnLineFootTrajectoryGeneration.cpp
Fix the callMethod to handle this step height member

rectify the cost function

Increase the size of some buffer

use the same test in the SQP as for the herdt QPs algorithm

Enable accessor to some nmpc_generator variable
Clean comments

TODO use the dynamic filter on it

introduce the case of standing stil inside the PG. To be verified after full intergration inside jrl-walkgen

correct a bug in reference_t::frame_t::frame_t(const frame_t & F): where the copy where not good (old : x=x y=x!)

overload a function of OnLineFootTrajectoryGeneration to do so

adding debug code, and disable them commenting out "#define DEBUG"

remove a display

prepare the online morisawa.

- The algorithm has been tested with the StackOfTask on OpenHrp3.1 on Ubuntu 12.04 precise.
- The Beam movement with morisawa's algorithm has been tested and approuved.
- correct the use of the HRP2 specialized inverse geometry
- Modify sligthly some tests

TODO
- Need to finish the implementation on the online pattern generator of Morisawa.
- Need to set the z position of the foot on morisawa to 0.