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Created with Raphaël 2.2.017Aug1413121029Jun1829Apr27241730Mar2423111017Feb105426Jan25222019161512926Dec1918171612109864228Nov27264327Oct23226224Sep1918171675218Aug25Jul2317109843130Jun2726242019181716121164228May262221201816141098622Apr201817227Mar26252421201918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128FebPut an obstacle in front of the robotCorrect bug in the interpolation of the SQP to enable the kajita dynamic filterManage properly the packaging of QPOasesFinish the inclusion of the NMOC walkgen inside jrlwalkgen.introduce the case of standing stil inside the PG. To be verified after full intergration inside jrl-walkgenenabling debugging tool,introduce the Finite State Machine inside the NMPV generatorprepare the interpolation of the SQP pg.Final commit on the SQP solver : it is exactly as the the python codeadding files for the SQP PGend the first implementation of the matrices of the SQP solveur.Introduce a new PG dealing with the automatic foot step with non linear constraints.simplify the use of the dynamic filter.- Finish the implementation on herdt with the actual dynamic filter.end the computation of the dynamic filter on line.relink to metapod for the Hirukawa Testnew motion on the multicontact PGend the inclusion of Bspline and fix some bug in herdt2010 PGimplemente bspline allowing settings of initial pos vel and acc.new experience on the multicontactfinish the exclusion of metapod inside jrl-walkgenuse the CjrlHumanoidDynamicRobot class to compute the dynamique in the dynamique filter.test on stepping stone and climbing stairs 15cm succeeded with the dynamic filterAdds a test on the kajita's dynamic filter.Introduces a test for Andreas Orthey's foot steps:go through wall 2.0clean some debug printingsFixes a bug in the generation of the bspline for the motion on a beam.finishes the inclusion of all pattern inside the Morisawa's PGclean up code in the bspline computationsecure the computation of bsplines.fix bug int the computation of the bsplinesimplemente polynomials for the com in Z in Morisawa's PGfix test adding longer double support and single support phase to climb and go down stairs.add one more step to the morisawa's PG test when climb and go down stairsUncomment the function that deal with the vertical trajectory of the com in zmaking the robot walk on a beam (or a line) with feet slitely apartcleaned the bspline computation and add features for the walking on beam trajectoryinclude a way point to achieve for XY bsplinesrectify absisse in x for the bspline trajectories.fix some indent