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Created with Raphaël 2.2.018Apr17227Mar26252421201918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb235Jan318Dec4330Nov292420191817161512109898654129Oct2827Correct OrientationsPreview: the order of left/right feet is no longer hard coded.Remove useless files (only the .hh were used).Creation of function that compute the position of a third step to interpolate elong the whole preview contrl, still debugging.investing the orientation preview computationCorrection of a bug linked to the interpolation periodthe modification bring contunous CoM and ZMP along time but increase the error between the zmp ref and the zmp multibodyCreation of independant interpolation function for decoupling the dynamic filter from the pgDeveloppement of an architecture around the interpolation that makes the subsampling easierUsage of the interpolation functionreplacement of the RigidBodySystem class by the OnLineFootTrajectoryGeneration to compute the interpolation of the feet trajectorysame commit but compilingcreation of an interpolation functionChanging the initial condition by starting with the right foot, no divergenceRewritting of some variables name to follow the convention of the class ZMPVelocitReferenceQPbefore switching branchDevelopping the herdt test to compute the difference between the multi body ZMP and the ZMP of referenceAdding security a security that block the computation of the dynamic filter while sending 0.0 velocity as commandmerging some feature from the master branchadding debuging features to the kajita2003 testadding some files in the .gitignorecommit before switching branchesErase of the most recent function to compute the trunk orientation.few changessolving the probleme of com orientation, now coupling with the feet orientationscommit before creation of a test branchComputing the initial difference between the ZMPref and the ZMPMB and addinng it into the lop.few changesfew changesDebug of the dynamic filter and the use of RNEA from metapodWritting down the articulation configurations for openHRPCreation d une nouvelle instance de CoMandFootRealizationByGeometrie pour le calcul du filtre dynamique dans Herdt.Modification of the interpolation of the feet. still something wrong with the left foot thetause only the dynamic filter as a test.Generate dat file per preview.few changesMajor changing in the ZMPMB computationcmake changescopy of the cmmake_metapod file in the rootadd the Cmake file for the use of metapodImplementation du filtre dynamic, pb avec le PC.