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Created with Raphaël 2.2.011Mar10786534324Feb19109828Jan25222120610Dec19Nov95420Oct19157612Sep109873128Aug2721201918171413121029Jun1829Apr27241730Mar2423111017Feb105426Jan25222019161512926Dec1918171612109864228Nov27264327Oct23226224Sep1918171675218Aug25Jul2317109843130Jun2726242019181716121164228May262221201816141098622Apr201817227Mar26252421201918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Marreduce the test durationdebug the sovler so that it can be used every 5 msclean the code and setup the dynamic filter to 5ms sampling perioddeal with all possibility in a testdebug interpolation in the SQP PG, (might still be buggued)remove debuf info from SQPclean the Tfirst evaluation, separate the update of the currentSupport and the supportDeque.compute the local interplation from the foot moition starting time instead of the endlessen the quantity of RNEA done by the Dynamic FIlter in the Naveau2015 PGenable the compilation in 10.04correct the interpolation of the legs trajectoriesMerge remote-tracking branch 'trac/topic/SQP_5ms' into topic/SQP_5msfix the solver for SQP every 5 msbegin the intergration of the interpolation. still work to doenable the first time period of the preview to vary along timetrack the velocity a bit betterremove useless functiondecrease the velocity in teh SQPadd debug infoallow the restriction of the evolution of the foot step rotation independently from the foot step positionimplemente regular impulse of forcesdebug the stop motion of the robot in the SQP PGbegin the intergration of the interpolation. still work to doenable the first time period of the preview to vary along timeconsume all the ostringstreammoving the feedback to the SQP problem not the local interpolationinject noise in Naveau2015 PGenable gaussian white noise in C++ testdebug SQP feedback.attempt to synchronise the feedback feet trajectories (fail)modify the feedback loopenable the ffeback control on the pattern generator, still some stuff to debug with the DynamicFiltermodify the Test Naveau to reintroduce the perturbationfix bug in the feedback and in the orientation velocity contraintstabilize the pattern generator tuning the gainput back to 2 step the preview of the pg. The dynamic filter preview is one step (it seems to capture most dynamic anyway)introduce a way to input a force inside the walking pattern generatorsolve the drift problem inside with the online Naveau PG+Dynamic filter.tune the paramter of the dynamic filterAdd polynaome5 and polynome 3 the possibility to have end derivation non null