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Created with Raphaël 2.2.026Aug2419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb235Jan318Dec4330Nov292420191817161512109898654129Oct2827262318141213126430Aug27262524212019181716429Jul2620161413127230Jun291817161514131098427May107652Minor corrections in documentationCorrect some rebase errorsAdd the second derivative for x,y,z,theta,omega and omega2.Use Polynomes of degree 5/6 instead of 3/4Add methods to initialize the Polynome of degree 5/6Simple rewriting of the codeAdd the computation of the second derivative to PolynomeCorrect typosAdding const operator wherever it's possibleThe link with lssol is now optionalAdd LSSOL solver to qp-problem and add some online tests for theseDisactivate equality constraints on feet positionsremove coutEnhance jerk gainMinor changesMinor changesMethod + minor bugfixAdd methods for dynamics computationAdd members and documentationUse of SupportStates_deqNew method, some minor improvements:finish is deprecated for ZMPVelRefMinor changesMove solution interpretation and resize to OLFTG- Introduce enum type QPElement Remove old CoP dynamics computation, doc., cleaningChange vertical interpolation to two order 5 polynomialsAdd computation of three-body cop dynamicsInterpolation of height with fifth order polynomialsTrajectory precomputation Add NbInstants to support_state_tsee previous commit...Add precomputation of trajectoryRemove obsolete todosAdd member StepHeight_ and accessorsAdd computation of second derivativeMove second derivative computation to parent classInclude foot dynamics + Move declaration of typesSee previous commmitSwitch to fifth order polynomials