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Created with Raphaël 2.2.010Dec9864228Nov27264327Oct23226224Sep1918171675218Aug25Jul2317109843130Jun2726242019181716121164228May262221201816141098622Apr201817227Mar26252421201918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb23clean 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 morisawaretry the climb up with toolsMerge branch 'topic/dynamic_filter_with_metapod_StairsDF' of trac.laas.fr:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/dynamic_filter_with_metapod_StairsDFbegin the introduction of a way point for the feetfinished to implement the test of the inverse kinematics that allow the computation qdebugging, adding inverse kinematics toolTo make it feasible by the robot, the step have to be two times slower.Handle succession of steps.include slope possibilitychanged the pitch of the foot to climb slopeadd the pitch of the footMerge branch 'topic/dynamic_filter_with_metapod_SlopeDF' of trac.laas.fr:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/dynamic_filter_with_metapod_StairsDFfix the problem with the security margin (Herdt algorithm)Merge branch 'topic/dynamic_filter_with_metapod_StairsDF' of trac.laas.fr:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/dynamic_filter_with_metapod_StairsDF