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Created with Raphaël 2.2.017Dec1612109864228Nov27264327Oct23226224Sep1918171675218Aug25Jul2317109843130Jun2726242019181716121164228May262221201816141098622Apr201817227Mar26252421201918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb23eliminate debug outputfixing bugadding one commentMerge branch 'topic/walkingclean' of trac.laas.fr:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/walking_cleanclean Morisawa's and Herdt's tests.Merge branch 'trac/topic/dynamic_filter_with_metapod_clean' into topic/mergeFixes compilation problem and set a flag to use the dynamic filter or not in MorisawaPGChanges the function ComputeAll implementing Bspline method. Now you havemodify the test to get another offline trajectory of the HerdtPG,v3.2.1v3.2.1avoid debug dumpingfixing bug in the pgfix bug in the testnew motion using herdtPGclean debugtry to diminish the preview in the dynamic filterfix some bugcleaning debug for time consumtpion measurementAvoid some useless computation inside the dynamical filter algorithm and try a compatibility patch for ubuntu10.04 and ubuntu12.04 librairies usecomments some dumping.fix compatibility bug from Ubuntu12.04 boost fusion to Ubuntu10.04 boost fusionuse the dynamic filter of kajita on different samplingClean the files from output during runtime.Compute the orientation of the robot to get smooth trajectoriesSmooth the trajectories in X and Y of the walking pattern generator of Andrei Herdt.Implement the 4th order polynome completely to allow modification of the the final position.adding the computation of the velocity and acceleration in the inverse geometric algorithm.Fix bug in the use of the dynamic filter in the the Morisawa's getZMPDiscretization functionClean console output, add non yet use function to interpolate the waist position using metapodMerge branch 'origin/topic/dynamic_filter_with_metapod' into origin/topic/dynamic_filter_with_metapod_cleanestablish the dynamic filter for the Morisawa's offline PGDevelopp a function to use the dynamic filter offline with one line.Corrected a bug in the dynamical filter of Kajita2003adding test for a multicontact controllerclean cmake tools for metapodMerge branch 'topic/dynamic_filter_with_metapod_SlopeDF' into topic/dynamic_filter_with_metapodcleaning codecleaning codecleaning codeMerge branch 'topic/dynamic_filter_with_metapod_SlopeDF' into topic/mergeavoid disctontunuities in the com z in morisawa