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Created with Raphaël 2.2.020Mar1918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb235Jan318Dec4330Nov292420191817161512109898654129Oct2827262318141213before switching branchDevelopping the herdt test to compute the difference between the multi body ZMP and the ZMP of referenceAdding security a security that block the computation of the dynamic filter while sending 0.0 velocity as commandmerging some feature from the master branchadding debuging features to the kajita2003 testadding some files in the .gitignorecommit before switching branchesErase of the most recent function to compute the trunk orientation.few changessolving the probleme of com orientation, now coupling with the feet orientationscommit before creation of a test branchComputing the initial difference between the ZMPref and the ZMPMB and addinng it into the lop.few changesfew changesDebug of the dynamic filter and the use of RNEA from metapodWritting down the articulation configurations for openHRPCreation d une nouvelle instance de CoMandFootRealizationByGeometrie pour le calcul du filtre dynamique dans Herdt.Modification of the interpolation of the feet. still something wrong with the left foot thetause only the dynamic filter as a test.Generate dat file per preview.few changesMajor changing in the ZMPMB computationcmake changescopy of the cmmake_metapod file in the rootadd the Cmake file for the use of metapodImplementation du filtre dynamic, pb avec le PC.Continuous buffer, the dynamic filter is not set correctly.try with continuous buffer, worst results... but maybe not comming from this calculation of the buffers.Few changes on the dequeModification of the buffers for the Kajita PC algorithm, orientation problem about the CoMIncreasing the size() of the temporary buffer ans try to file them properly. The programme return "info on inconsistent constraint"create temporary buffer to have a bigger deque to do the PC of Kajita on 16-1 * 100mssome changes about the interpolationEnd of the inclusion of metapod and first test with the filter dynamic.adding different cmake_metapod_config.cmake wich define paths to the url files of simple_humanoid or hrp2_14try with target_link_librairiestry by using the simple_humanoid.hh simple_humanoid.cc config.hh in the folder they are suppose to be created by MetapodFromUrdf.Synchronizev3.1.8v3.1.8Update ChangeLogFirst implementation of the dynamic filter, metapod not added yet