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Created with Raphaël 2.2.012Oct65227Sep23222119922Aug191817831May262423201918171614109429Apr2827171514131211876523Mar1817141110786534324Feb19109828Jan25222120610Dec19Nov95420Oct19157612Sep109873128Aug2721201918171413121029Jun1829Apr27241730Mar2423111017Feb105426Jan25222019161512926Dec1918171612109864228Nov27264327Oct23226224Sep1918171675218Aug25Jul2317109843130Jun2726242019181716121164228May262221201816141098622Apr201817227Mar26252421201918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct2423222120191815141312111086543add fortran filesadd constraints to the nmpc solver to use planned foot steps.compute the proper jacobian of the nonlinear constraintsenable to put different weight on velocity tracking for X Y and Yawallow the removal of the "polygon constraints" when the foot is fixed.a lot of modification[tests] Put in TestObject common usefull methods for generating real trajectories.[c++] getFrameParent is depreciated in pinocchioFix pb when QP_OASES is not compiled.[cmake] Add sublapack to tests.Merge branch 'devel' of github.com:jrl-umi3218/jrl-walkgen into develadd dipendency to the fortran and add Navea test as execetuable onlyFix and first running test with the Fortran solution.Fix configJRLWPG.hh.inFix pb when compiling with QPOASES.add fortran filesfix the initialization of the jointId in pinnochioRobotFix new buildModel interface and indentation.Fix pb with pinocchio-devel getFrameParent->getFrameIdenable compatibility pinocchi 1.1.0Deal with pinocchio API changesFix and first running test with the Fortran solution.Fix configJRLWPG.hh.inFix pb when compiling with QPOASES.add fortran filesfix the initialization of the jointId in pinnochioRobotFix new buildModel interface and indentation.Fix pb with pinocchio-devel getFrameParent->getFrameIdenable compatibility pinocchi 1.1.0[c++] body and BODY should both be excepted as valid namesMerge pull request #23 from proyan/develDeal with pinocchio API changesadd constraints to the nmpc solver to use planned foot steps.compute the proper jacobian of the nonlinear constraintsenable to put different weight on velocity tracking for X Y and Yawallow the removal of the "polygon constraints" when the foot is fixed.a lot of modificationfix bugs and allow the change of single and double support periodput the choice of using the line search to the above classfix initialization, (need reorganizization of the constructor