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Created with Raphaël 2.2.029Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb235Jan318Dec4330Nov292420191817161512109898654129Oct2827262318141213126430Aug27262524212019181716429Jul2620161413127230Jun29181716151413Initialize dZ and ddZ in the end phase of Kajita 2003.Starting the reference trajectory at 2 * Tsingle.Update the source files with the new header format.Reduce the time to start Morisawa's algorithm.Generate report when performing the comparison.Correct computation of initial CoM position.Generate developer documentation.Change header name to comply with format and generate doc.Make multi-body mode workMake the system resilient to biped robotIndexes for arms reorganized and resilient against biped robot.Reinforce the configuration tests for some unitary tests.Fixed registration of methodes of the PG.hri.1.0.0hri.1.0.0The pg now uses the reference trajectory in the cost function and in the constraints.Added TestBussy.Changed the prediction horizon to 13 to increase execution speed.Added methods to modify the cost function weights.Added variables interfaces for position control of the CoM. However, the cost function and constraints are not implemented yet.Hard coded version number to avoid execution problems.Speed up computationSpeed up add_term()Change the computation of selection matrices Vc..Merge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into topic/toesConstraints on the comMerge branch 'topic/rc-v3.1.4 into topic/toesEnums and convex hullRemove PLDPHerdt ;(temporaryMerge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into toeschange sign of foot constraint area in y-axischange sign for foot constraint in y-axisadd access function of QP_Nremove dependency of ROBOTMerge branch 'topic/rc-v3.1.4' into topic/toesIntroduce pointer, renameComplete the list of maneuvers in TestHerdt2010Correct insertion of constraintsCoM constraints, enums, clean up...missing in the previous commit...Enums, rotations, clean up,