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Quadruped example

Carlos Mastalli requested to merge quadruped-example into devel

In this PR I included an example with the HyQ robot (quadruped robot). This example consist of three DDP problems solved in sequences: 1) RH-RF walking phase, 2) LH-LF walking phase, and 3) CoM moving forward and backward.

An important remark here is that it's not possible to solve the entire problems with only DDP problem. Our DDP solver struggles the limitations of single shooting formulations as described here #114 (closed). Even with this 3 DDP problems, we cannot increase the number of nodes (i.e. knots) for each phase. Indeed the problems become easily infeasible to solve.

Additionally to this example, I did the follows:

  • Fixing a bug in the loading of the HyQ urdf.
  • Hard-coded the default HyQ posture (i.e. q0). We should use a SDRF here!
Edited by Carlos Mastalli

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