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Forked from Stack Of Tasks / jrl-walkgen
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end the inclusion of Bspline and fix some bug in herdt2010 PG
mnaveau authored 
- finish the good computation for bspline without point in the middle, the other need checking and dynamic simulation to be sure.
- fix a bug in the interpolation of the COM/ZMP in herdt 2010.
5be121b4
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