- Minor bugfix
- Add method dump_problem(Time)
- Minor changes to improve robustness

- Add compute_foot_zero_dynamics
- Add compute_foot_cjerk_dynamics

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

- Add method build_eq_constraints_feet
- Add computation of CurrentSupportState
- Call to Pb.NbConstraints() before adding constraints
- Matrices_ -> IntermedData_
- Documentation

- Introduce enum type Solver
- Remove predefined QP size
- The first row of the constraints matrix is now zero!!!
- m = NbConstraints + 1
- Documentation
- Accessors for Nbs. of variables and constraints

- Remove CoPDynamics_
- Add documentation
- Some cleaning

- Add HalfTimePassed_
- Switch to polynom5

- Add method precompute_trajectory
- Replace FSM through PrwSupStates_deq

- Add pointer member to finite state machine
- Add precomputation of the flying foot trajectory
- Replace vector in r_b_s_t through bounded_vector

- 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

- Add initialization 
- Add acceleration and position dynamics

- Add initialization of members
- Add initialization of position matrices

- Add * Robot_
- Add initialization of * Robot_
- Add destruction of * IntermedData_
- Add documentation

Add * robot_

Add rigid-body.cpp/hh
Add rigid-body-system.cpp/hh

- Define NbStepsSSDS_ to be always the least nb of steps