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Created with Raphaël 2.2.026Nov4327Oct23226224Sep1918171675218Aug25Jul2317109843130Jun2726242019181716121164228May262221201816141098622Apr201817227Mar26252421201918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb235Jan3Developp 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_StairsDFsome debugging toolsMerge branch 'topic/dynamic_filter_with_metapod_StairsDF' of trac.laas.fr:/git/jrl/koroibot/src/mnaveau_dynamicfilter into topic/dynamic_filter_with_metapod_StairsDFfew changes and debug thingsadding a new call method, clean a bit the class dynamicFilter, after a while there is a bug in the instanciation of a MAL_VECTOR, a segfault is launchedAdding zmp initialization in the Herdt2010 PG.Adding equality constraint in the QP of the Herdt2010 algortihm to limit the evolution of the feet close to the landing time.adding upper body motionadding the upper part posturecompute the inverse kinematics inside the testintegration of the time of the rneaUpdate ChangeLogv3.2.0v3.2.0correct the size of the corrected buffercleaning most of the warning, fixed the AnalyticalMorisawaCompact.cpp indentationremove some warningMerge branch 'topic/StairWalking' into topic/mergeCorrect bug introduced in 846be4ab58282d87.Finish the implementation of the Kajita dynamic filter in herdt