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Adding quadruped gaits

Carlos Mastalli requested to merge cmastall/crocoddyl:topics/quadruped-gaits into devel

In this PR request is formulated different quadrupedal gaits (walking, trotting, pacing and bounding) plus a little jump with the quadruped.

For doing so, I significantly improve the SimpleQuadrupedalGaitProblem problem class. For instance, the foot swing trajectories used a step height.

These is the list of modifications:

  • Defining a triangle swing trajectory based on the pre-define step height.
  • Defining a CoM task which is needed for different gaits.
  • Adding trotting, pacing and bounding gaits.
  • Adding a jumping gaits (it needs to be improved).
  • Easily definition of sequence of gaits.
Edited by Carlos Mastalli

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