Merge branch 'master' into devel

README.md

@@ -7,4 +7,30 @@
 This package is extracted from an original work of Justin Carpentier (jcarpent@laas.fr),
 with the goal to simplify the library and remove old dependencies.
 
-This package installs a python module used to define, store and use ContactSequence objects.
+This package installs a python module used to define, store and use ContactSequence objects. 
+
+Basic usage of the ContactSequence object is to initialize either an empty sequence of given size : 
+
+``` Python
+cs = ContactSequenceHumanoid(num_contact_phases)
+```
+
+Or load it from a xml file : 
+
+``` Python
+cs = ContactSequenceHumanoid(0)
+cs.loadFromXML(filename, "ContactSequence") 
+```
+
+This ContactSequence object store a sequence of ContactPhases, defining a set of active contact with their placement. 
+A ContactPhase can also store centroidal data : state trajectory (c,dc,L) and control trajectory (ddc,dL). 
+This trajectories are stored as a set of discretized points, the time corresponding to each point can be found in 'time trajectory'.
+
+For example, to access the position of the center of mass during the first contact phase of a motion :  
+
+``` Python
+phase = cs.contact_phases[0]
+for k in range(len(phase.state_trajectory)):
+    print "c ("+str(phase.time_trajectory[k])+") = "+str(phase.state_trajectory[k][0:3])
+    
+```
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