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a865b138

Commit a865b138 authored 9 years ago by mnaveau

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finish the implementation of one iteration of the Hirukawa algorithm.

Question is : how to initialiaze the algorithm for the ext time interval?

parent e266400d

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src/MultiContactRefTrajectoryGeneration/MultiContactHirukawa.cc 207 additions, 193 deletions

...ltiContactRefTrajectoryGeneration/MultiContactHirukawa.cc
src/MultiContactRefTrajectoryGeneration/MultiContactHirukawa.hh 52 additions, 25 deletions

...ltiContactRefTrajectoryGeneration/MultiContactHirukawa.hh
tests/TestHirukawa2007.cpp 0 additions, 19 deletions

tests/TestHirukawa2007.cpp

with 259 additions and 237 deletions

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