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Created with Raphaël 2.2.017Nov1615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb235Jan318Dec4330Nov292420191817161512109898654129Oct2827262318141213126430Aug27262524212019181716429Jul2620161413127230Jun291817161514131098427MayMake the system resilient to biped robotIndexes for arms reorganized and resilient against biped robot.Reinforce the configuration tests for some unitary tests.Fixed registration of methodes of the PG.hri.1.0.0hri.1.0.0The pg now uses the reference trajectory in the cost function and in the constraints.Added TestBussy.Changed the prediction horizon to 13 to increase execution speed.Added methods to modify the cost function weights.Added variables interfaces for position control of the CoM. However, the cost function and constraints are not implemented yet.Hard coded version number to avoid execution problems.Speed up computationSpeed up add_term()Change the computation of selection matrices Vc..Merge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into topic/toesConstraints on the comMerge branch 'topic/rc-v3.1.4 into topic/toesEnums and convex hullRemove PLDPHerdt ;(temporaryMerge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into toeschange sign of foot constraint area in y-axischange sign for foot constraint in y-axisadd access function of QP_Nremove dependency of ROBOTMerge branch 'topic/rc-v3.1.4' into topic/toesIntroduce pointer, renameComplete the list of maneuvers in TestHerdt2010Correct insertion of constraintsCoM constraints, enums, clean up...missing in the previous commit...Enums, rotations, clean up,Warning removalImprove, clarify and cohere compute_warm_start()Clean upChange enum type names and clean upUpdate indentationtypo 2TypoUseWarmstart must be false if you dont use LSSOLMerge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into rc-v3.1.4