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CHANGELOG
----------------------

[Current]
Aurelie Clodic's avatar
Aurelie Clodic committed
 * Correct bug introduced in 846be4ab58282d87.
 * Merge pull request #20 from francois-keith/master
 * Verify using an assertion that the foot is flat during the initialization of the walk.
 * Simplify the chain building from the chest to the wrist.
 * Add an assertion to avoid nul size of the sole.
 * Use waist rather than root to create the chain.
 * Remove useless IndexInVRML vector.
 * Correct errors in debug mode.
 * Correct OrientationsPreview: the order of left/right feet is no longer hard coded.
 * Remove useless files (only the .hh were used).

[3.1.8]
Aurelie Clodic's avatar
Aurelie Clodic committed
 * Since hrp2 is only needed for the tests, the dependency is declared in the tests.
 * Synchronize.
 * Merge pull request #19 from gergondet/topic/fixPGInitialization
 * synchronize cmake module
 * Fix intialization to allow restart of Herdt's PG
 * Fix PG initialization
 * Add some ostream operators for walkgen structures
 * Fix source naming inconsistency
 * Merge pull request #17 from gergondet/topic/fixHerdtFinalPosAndRunningFlag
 * Correctly set m_Running
 * Set running value properly for Herdt's PG
 * Put the CoM at the center of the feet when stopping

[3.1.7]
 * [cmake] Synchronize
 * Update datref.cmake for Morisawa walking pattern generator.
 * Merge branch 'topic/merge-rc-3.1.4'
 * Synchronize
 * Add a test for emergency stop.
 * Remove debug output.
 * Optimize code and remove initialisation problems (division by zero).
 * Add test stress on Herdt WPG.
 * Improve the test validation.
 * Makes sure that ZMP, Left and Foot trajectory generation are synchronized.
 * Makes jrl-walkgen less verbose.
 * Cleaning. Remove unused code.
 * Update ref values for unit test.
 * First version with sensible output. The graphs have to be checked.
 * First compiling version.
 * Update the dependency in hrp2-14.
 * Merge branch 'topic/rc-v3.1.4' into topic/merge-rc-3.1.4
 * Simplify name handling for TestMorisawa2007.
 * Add TestMorisaw2007ShortWalkTEstFGPI_64.datref.cmake
 * [CMakeLists.txt] Add MACRO to generate Morisawa 2007 tests.
 * Fix comparaison between x86_32 and x86_64.
 * Fix problem related to the robot data path.
 * [travis] Make cmake verbose
 * Disable failing tests
 * Synchronize
 * Update README.md
 * [travis] Add Travis support
 * Fix directory to load default sample.wrl file for unitTesting.
 * Update lib installation path (multiarch portability).
 * Synchronize
 * Revert "Interpolation of height with fifth order polynomials"
 * Add vim swap files to .gitignore
 * Synchronize.
 * Make multi-body mode work
 * Speed up computation
 * Speed up add_term()
 * Change the computation of selection matrices Vc..
 * Merge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into topic/toes
 * Constraints on the com
 * Merge branch 'topic/rc-v3.1.4 into topic/toes
 * Enums and convex hull
 * Remove PLDPHerdt ;(
 * temporary
 * Merge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into toes
 * change sign of foot constraint area in y-axis
 * change sign for foot constraint in y-axis
 * add access function of QP_N
 * remove dependency of ROBOT
 * Merge branch 'topic/rc-v3.1.4' into topic/toes
 * Introduce pointer, rename
 * Complete the list of maneuvers in TestHerdt2010
 * Correct insertion of constraints
 * CoM constraints, enums, clean up
 * ...missing in the previous commit...
 * Enums, rotations, clean up,
 * Warning removal
 * Improve, clarify and cohere compute_warm_start()
 * Clean up
 * Change enum type names and clean up
 * Update indentation
 * typo 2
 * Typo
 * UseWarmstart must be false if you dont use LSSOL
 * Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into rc-v3.1.4
 * Add the computation of initial solution wich respect all the constraints note : used in LSSOL (QLD don't support this)
 * correct a segfault in LSSOL
 * Add a comment
 * compute the inverse of COP dynamic matrix U
 * m_Degree must be initialize in the constructor
 * COP double support constraint was wrong because security margins was counted two times
 * Initialization + Attribute names
 * Omit setting of velocity reference :HerdtOnLine
 * Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into topic/rc-v3.1.4
 * Include verification of sup. phase before interpretation
 * Add a buffer to the modification of velocity reference It's usefull to avoid multi-thread problems
 * Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into HEAD
 * comment the part which concern the multi-body dynamics, because it's unused
 * A minor bug with parenthesis (did not affect the program behavior)
 * uninitialized data
 * First part of warm-start with LSSOL
 * Add interpolation of trunk orientations for N_ instants
 * Correct a bug introduced in commit 5efc71.
 * Add a patch in rigid-body-system to avoid wrong memory access.
 * Correct test + warning removal.
 * Move reset to the beginning of online routine
 * Smaller refactoring
 * I think there are five arguments...
 * Add missing initialization in CallMethod
 * Correct the type of an attribute (should be int rather than double).
 * Add a patch preventing wrong memory access.
 * Fix overflow problems inside for loops
 * Align and complete previous commits
 * Avoid the fall of the robot if it completed a pure rotation TODO to complete this : Center the CoM at the end of a movement
 * Rename compute_term into multiply_terms
 * Optimize and clarify the code
 * Add a comment in OrientationsPreview class
 * remove obsolete contents
 * Correct a minor warning
 * Documentation
 * Remove object and warnings
 * Correct the declaration of verify_angle_hip_joint. One of the parameters cannot be const.
 * Remove debug traces et restore the use of QLD by default.
 * Minor corrections in documentation
 * Correct some rebase errors
 * Add the second derivative for x,y,z,theta,omega and omega2.
 * Use Polynomes of degree 5/6 instead of 3/4
 * Add methods to initialize the Polynome of degree 5/6
 * Simple rewriting of the code
 * Add the computation of the second derivative to Polynome
 * Correct typos
 * Adding const operator wherever it's possible
 * The link with lssol is now optional
 * Add LSSOL solver to qp-problem and add some online tests for these Note : LSSOL sources are not included
 * Disactivate equality constraints on feet positions
 * remove cout
 * Enhance jerk gain
 * Minor changes
 * Minor changes
 * Method + minor bugfix
 * Add methods for dynamics computation
 * Add members and documentation
 * Use of SupportStates_deq
 * New method, some minor improvements
 * :finish is deprecated for ZMPVelRef
 * Minor changes
 * Move solution interpretation and resize to OLFTG
 * - Introduce enum type QPElement - Introduce enum type Solver - Remove predefined QP size - The first row of the constraints matrix is now zero!!! - m =
 * Remove old CoP dynamics computation, doc., cleaning
 * Change vertical interpolation to two order 5 polynomials
 * Add computation of three-body cop dynamics
 * Interpolation of height with fifth order polynomials
 * Trajectory precomputation
 * Add NbInstants to support_state_t
 * see previous commit...
 * Add precomputation of trajectory
 * Remove obsolete todos
 * Add member StepHeight_ and accessors
 * Add computation of second derivative
 * Move second derivative computation to parent class
 * Include foot dynamics + Move declaration of types
 * See previous commmit
 * Switch to fifth order polynomials
 * Move specification of dynamics to rigid-body...
 * Minor bugfix
 * Initialization
 * Initialization
 * New instance, documentation, pointer destruction
 * Minor cleaning
 * Add pointer member to simplified model
 * Merge branch 'topic/new-classes' into topic/door
 * Introduce classes for simulation of rigid bodies
 * Complete unmerged details
 * Merge topic/rc-v3.1.4
 * Clean up and restructure slightly
 * Bugfix
 * Modify FSM to solve instability issues at the beginning
 * The door is opening. The frontal constraints have to be verified
 * Bugfixes, door fixed
 * Minor changes
 * PG cancellation and initialization
 * Add call and move IQPMat
 * Remove debug message
 * Accessor, documentation
 * Add external constraints on the CoM
 * Merge with topic/rc-v3.1.4
 * Minor temporary changes
 * Add method
 * Smaller refactoring
 * Bugfix, Warnings, Refactoring
 * Bugfix and clean up
 * Bugfix and reformulation
 * Add computation of external constraints and CoM position dynamics
 * Add new object Door
 * Add accessor to the constraints number and bugfix
 * Add accessor to position matrices
 * Add external object door
 * Temporary change of the CoM initialization
 * Documentation, clean up and bugfix
 * Reformulated tests for Herdt2010 algorithm.
 * Typo
 * Add velocity output for the trunk direction, and bounds on hip joints angular velocity.
 * Remove memory size display for qp-problem.

[3.1.6]
 * Remove debian .
 * Update ChangeLog
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 * Update tests for Kajita 2003.
 *  Synchronize
 * Fix ZMP computation for multibody correction.
 * Beautify DEBUG output.
 * Add operator<< to COMState.
 * Synchronize.
 * Fix the end part of feet trajectory generation.
 * Add a documentation clearer on how to compute the optimal weights for preview control.
 * Put the real number of lines in TestObject.cpp
 * Update CMakeLists.txt with header name.
 * Initialize dZ and ddZ in the end phase of Kajita 2003.
 * Starting the reference trajectory at 2 * Tsingle.
 * Update the source files with the new header format.
 * Reduce the time to start Morisawa's algorithm.
 * Generate report when performing the comparison.
 * Correct computation of initial CoM position.
 * Generate developer documentation.
 * Change header name to comply with format and generate doc.
 * Make the system resilient to biped robot (aka a humanoid robot without upper body...)
 * Indexes for arms reorganized and resilient against biped robot.
 * Reinforce the configuration tests for some unitary tests.
 * Add program + new walk mode specific currently.
 * Add hrp2-14-data in the standard jrl-walkgen package when present.
 * Fix unproper reference to hrp2-14-data packet version.
 * Modify debian/control depending on the packages detected.
 * Correct wrong dependence and update the reference files.
 * Fix pb on TestKajita2003 (wrong include) + update ref for binary tests.

[v3.1.5]
 * Add tests on Kajita 2003 algorithm (on two sequences)
 * Add test Kajita 2003 (straight walking)
 * Add test on Kajita 2003 algorithm (turning on a circle)
 * Fix test for Morisawa 2007 algorithm
 * Add new test for Kajita algorithm
 * Remove useless field.
 * Code cleaning
 * Fix bugs introduced by commit 95ee for Kajita algorithm.
 * Remove debugging messages.
 * Remove debugging messages.
 * Update test for Morisawa and insert Test for Kajita 2003.
 * Clean up code, and started debugging for ZMP preview control.
 * Update binary output of Morisawa On Line Test.
 * Change test morisawa to reflect new test procedure.
 * Set compilation to -O3 instead of -O2.
 * Clean up code
 * Add display of intervals duration.
 * Add sensitivity to test intervals in analytical ZMP-COG trajectories.
 * Set sensitivity to zero for FootGeneration. Add debug messages. Change package name in license part.
 * Test traj. modification every 5 ms.
 * Clean up AnalyticalMorisawaCompact + bug fix on failed traj. modification
 * Fix operator= on FootTrajectoryGenerationMultiple.
 * Clean up EndPhaseOfWalking and share queue filling.
 * operator = and copy constructor for feet trajectories.
 * Make sure that the new foot-step is introducing properly.
 * Fix problem of time reference when adding a new foot-step.
 * Fix package name.
 * Prevent a memory loss by removing useless code
 * Fix typo in debug message.
 * Put name back to some nameless argument so it compiles with _DEBUG_MODE_ON_ too.
 * [debian] Changed dpkh-shlibdeps to dh_shlibdeps
 * [debian] Fix shlibdeps.
 * Synchronize
 * [debian] update changelog.
 * [debian] Update shlibs file.

[v3.1.4]
 * [debian] Second bunch of modifications for debian package generation.
 * [debian] Fix the files for launchpad binary package generation.
 * Revert "Move the resolution of the optimization problem to the object defining it"
 * Revert "Correct pointer initialization that provokes a warning"
 * Revert "malloc -> new"
 * Revert "Add new class for intermediate computations"
 * Revert "Add a class for the construction of optimization problems"
 * Revert "Add matrices and types necessary to construct a least squares objective"
 * Revert "Add new type for the CoM to be used by:"
 * Revert "... idem ..."
 * Revert "Integrate new CoM type"
 * Revert "Integrate new CoM type"
 * Revert "* m_2DLIPM -> m_CoM"
 * Revert "Add methods for the computation and assignment of the variant part of"
 * Revert "minor changes"
 * Revert "Improve access to matrices and their transformation into final form"
 * Revert "Add debug methods"
 * Revert "Correct initialization of transpose matrices + minor changes"
 * Revert "Correct function call"
 * Revert "-Introduce m_NbVariables"
 * Revert "Add exception handling to the reallocation"
 * Revert "Remove redundant instanciation"
 * Revert "Revise reallocation and printing"
 * Revert "Move to privatepgtypes.h"
 * Revert "Add types trunk_t, supportfoot_t, reference_t"
 * Revert "Change output of test results"
 * Revert "Add initialization and destruction of array dInitPos"
 * Revert "Changes due to changed type names (functionality untouched)"
 * Revert "Add members and change accessor names"
 * Revert "Add methods"
 * Revert "Add new and remove deprecated methods"
 * Revert "Test new classes"
 * Revert "Add method for the construction of selection matrices"
 * Revert "Initialization and templates"
 * Revert "New type and type methods"
 * Revert "Minor change"
 * Revert "Remove replaced function"
 * Revert "Replace initializing for-loop by std::fill_n"
 * Revert "Remove BuildingConstantPartOfTheObjectiveFunction()"
 * Revert "Assure proper initialization of matrices"
 * Revert "Some clean-up"
 * Revert "Implement generation of constraints from topic/vel-ref-gen-cleaning-restructuring"
 * Revert "Implement the generation of constraints in GenVelRef"
 * Revert "Make setVertices and computeLinearSystem public methods of FCALS"
 * Revert "Integrate the new method in ZMPVelocityRef..."
 * Revert "Move to privatepgtypes"
 * Revert "Change name of type"
 * Revert "Add type for linear constraint"
 * Revert "Add structure to handle 2-dimensional convex hulls"
 * Revert "Simplifications due to the new structure"
 * Revert "Standardize treatment of convex hulls"
 * Revert "Split method buildConstraintInequalities into:"
 * Revert "New methods"
 * Revert "Struct for linear inequality sets"
 * Revert "Minor changes"
 * Revert "Copy of computeLinearSystem that manipulates arrays"
 * Revert "Add members and methods"
 * Revert "Add functions"
 * Revert "Add method"
 * Revert "Remove functions"
 * Revert "ZMPVelocityReferencedQPDebug.cpp not needed anymore"
 * Revert "Minor changes"
 * Revert "Remove obsolete members of ZMPVel...QP"
 * Revert "Add class and methods"
 * Revert "Clean up"
 * Revert "add src directory to doxyfile"
 * Revert "Eliminate warnings"
 * Revert "Accessors and documentation"
 * Revert "Introduce new struct for array handling inside qp-problem"
 * Revert "Simplifications resulting from introduction of new class"
 * Revert "Copy with iterators for better performance"
 * Revert "Remove obsolete functions and rearrange"
 * Revert "Calls obsolete due to automatic dimensionning and initialization"
 * Revert "Fix a problem related to the number of variables dumped."
 * Revert "Update binary results of new algorithm."
 * Revert "Fix warning and remove unused setReference(strm) for generator-vel-ref."
 * Revert "Adding default policy when asking for inequalities."
 * Revert "Fix warning in tests."
 * Revert "!warnings"
 * Revert "Const correctness and documentation"
 * Revert "Add member for the current support state and accessors"
 * Revert "Additional documentation and slight rearrangement in online()"
 * Revert "obsolete class and documentation"
 * Revert "Obsolete function, obsolete variables, name changing"
 * Revert "Encapsulate class IntermedQPMat inside GenVelRef"
 * Revert "Improve documentation"
 * Revert "row_major for faster prod() computation"
 * Revert "Determine double support time"
 * Revert "Minor change"
 * Revert "Encapsulation and documentation"
 * Revert "New class for online trajectory interpolation"
 * Revert "Remove obsolete methods"
 * Revert "Minor changes"
 * Revert "Minor changes"
 * Revert "Encapsulation, restructuring, documentation"
 * Revert "Use of final com-trajectory (with orientation of the trunk)"
 * Revert "Remove obsolete members"
 * Revert "Add turning motions to the test scenario of TestHerdt2010"
 * Revert "Encapsulation, name changing"
 * Revert "Change name of class"
 * Revert "Change name of corresponding file"
 * Revert "Rearrange and change of member names"
 * Revert "Clean up"
 * Revert "Change call by value to call by reference"
 * Revert "Test size of variables before trying to allocate memory."
 * Revert "Fix some problems to generate documentation."
 * Revert "Add install documentation."
 * Revert "Update binary test for Herdt walking pattern generator."
 * Revert "Pre initialize the matrix size"
 * Revert "Change the memory allocation policy to avoid time peak."
 * Change the memory allocation policy to avoid time peak.
 * Pre initialize the matrix size
 * Update binary test for Herdt walking pattern generator.
 * Add install documentation.
 * Fix some problems to generate documentation.
 * Test size of variables before trying to allocate memory.
 * Change call by value to call by reference
 * Clean up
 * Rearrange and change of member names
 * Change name of corresponding file
 * Change name of class
 * Encapsulation, name changing
 * Add turning motions to the test scenario of TestHerdt2010
 * Remove obsolete members
 * Use of final com-trajectory (with orientation of the trunk) for computation of global reference
 * Encapsulation, restructuring, documentation
 * Minor changes
 * Minor changes
 * Remove obsolete methods
 * New class for online trajectory interpolation
 * Encapsulation and documentation
 * Minor change
 * Determine double support time
 * row_major for faster prod() computation
 * Improve documentation
 * Encapsulate class IntermedQPMat inside GenVelRef
 * Obsolete function, obsolete variables, name changing
 * obsolete class and documentation
 * Additional documentation and slight rearrangement in online()
 * Add member for the current support state and accessors
 * Const correctness and documentation
 * !warnings
 * Fix warning in tests.
 * Adding default policy when asking for inequalities.
 * Fix warning and remove unused setReference(strm) for generator-vel-ref.
 * Update binary results of new algorithm.
 * Fix a problem related to the number of variables dumped.
 * Calls obsolete due to automatic dimensionning and initialization
 * Remove obsolete functions and rearrange
 * Copy with iterators for better performance
 * Simplifications resulting from introduction of new class
 * Introduce new struct for array handling inside qp-problem
 * Accessors and documentation
 * Eliminate warnings
 * add src directory to doxyfile
 * Clean up
 * Add class and methods
 * Remove obsolete members of ZMPVel...QP
 * Minor changes
 * ZMPVelocityReferencedQPDebug.cpp not needed anymore
 * Remove functions
 * Add method
 * Add functions
 * Add members and methods
 * Copy of computeLinearSystem that manipulates arrays instead of variables of a custom type
 * Minor changes
 * Struct for linear inequality sets
 * New methods
 * Split method buildConstraintInequalities into:
 * Standardize treatment of convex hulls
 * Simplifications due to the new structure
 * Add structure to handle 2-dimensional convex hulls
 * Add type for linear constraint
 * Change name of type
 * Move to privatepgtypes
 * Integrate the new method in ZMPVelocityRef...
 * Make setVertices and computeLinearSystem public methods of FCALS
 * Implement the generation of constraints in GenVelRef
 * Implement generation of constraints from topic/vel-ref-gen-cleaning-restructuring
 * Some clean-up
 * Assure proper initialization of matrices
 * Remove BuildingConstantPartOfTheObjectiveFunction()
 * Replace initializing for-loop by std::fill_n
 * Remove replaced function
 * Minor change
 * New type and type methods
 * Initialization and templates
 * Add method for the construction of selection matrices
 * Test new classes
 * Add new and remove deprecated methods
 * Add methods
 * Add members and change accessor names
 * Changes due to changed type names (functionality untouched)
 * Add initialization and destruction of array dInitPos
 * Change output of test results Change required precision from 1e-6 to 1e-5
 * Add types trunk_t, supportfoot_t, reference_t
 * Move to privatepgtypes.h
 * Revise reallocation and printing
 * Remove redundant instanciation
 * Add exception handling to the reallocation
 * -Introduce m_NbVariables -Introduce resize(array, size) and setNbVariables(NbVar)
 * Correct function call
 * Correct initialization of transpose matrices + minor changes
 * Add debug methods
 * Improve access to matrices and their transformation into final form
 * minor changes
 * Add methods for the computation and assignment of the variant part of the objective
 * * m_2DLIPM -> m_CoM
 * Integrate new CoM type Add new accessors
 * Integrate new CoM type Add overloaded accessor functions
 * ... idem ...
 * Add new type for the CoM to be used by: LinearInvertedPendulum2D intermediate-qp-matrices
 * Add matrices and types necessary to construct a least squares objective
 * Add a class for the construction of optimization problems
 * Add new class for intermediate computations
 * malloc -> new
 * Correct pointer initialization that provokes a warning
 * Move the resolution of the optimization problem to the object defining it

[v3.1.3]
 * Synchronize.
 * Remove ambiguity due to */* in comment
 * Make compilation more robust.
 * Fix cmake url.
 * Change cmake url.
 * Add an implementation for the function trunc for win32
 * Synchronize
 * Synchronize
 * Synchronize
 * Synchronize
 * Update reading of sample data file using pkgdatarootdir.
 * Increase the acceptable error between reference and computed values.
 * Reindent
 * Add missing parameter initialization
 * Corrected bad pointer initialization.
 * Clean ZMPVelocityReferencedQP.h and remove FullDebug mode.
 * Fix end test + code cleaning.
 * Add new reference tests to cope with new 1e-7 precision tests.
 * Buildbot reported results with 1e-7 of error.
 * Fix problem with ending phase + clean the code with vel-ref problem object.
 * Fix regression test for TestHerdt2010.
 * Code cleaning
 * Synchronize.
 * Update reference trajectoiries after hole filling.
 * Fill some holes in the speed trajectories.
 * Revert back optimization flags.
 * Extend Problem to handle properly memory allocation.
 * Add ODEBUG6SIMPLE
 * Add constant part to avoid costly matrix multiplication.
 * Fix cmake bugs for generating debian package for ubuntu 8.04.
 * Fix assignement to an interger.
 * Add packaging for 8.04 Ubuntu.
 * Minor corrections.
 * Update references value files with new filter.
 * Remove any digits after 1e-8 for regression tests.
 * Fix warnings.
 * Synchronize
 * Added correct use of lapack library for riccati equation unit test.
 * Correct the link for TestRiccatiEquation
 * Add missing compilation flag for win32
 * Correct generation of pc file for jrl-walkgen.
 * Removed unknown espace character.
 * Fix ; in test-suite.
 * Fix remaing ;
 * Fix remaining ; + forbidden long long
 * Fix problem of extra ;
 * Synchronize cmake.
 * Correct the flags for the unit tests
 * Correct the use of HAVE_SYS_TIME_H
 * Correct the API
 * Win32: Correct the #include for gettimeofday
 * Clean the code
 * Fix problem on Com Z and dZ, update regression tests, synchronize.
 * Use PKG_CONFIG_USE_DEPENDENCY new macro to import dependency flags properly.
 * Added link flags and detection of lapack libraries.
 * Synchronize.
 * Add missing cross-links.
 * Synchronize.
 * Fix header installation.
 * Fix unit tests compilation.
 * Add JRL_DYNAMICS_LIBRARIES for tests.
 * Revert merge 08b67f4cc7ecdc4ccea85803e9cef707813405b2.
 * Make sure a shared library is generated.
 * Add optional detection of hrp2-dynamics.
 * Get rid of obsolete files.
 * Fix aggressive optimization when setting release flags.
 * Switch to submodule.
 * Fix problems with further improvment of abstract-robot-dynamics normalization.
 * Get rid of obsolete files.
 * Fix aggressive optimization when setting release flags.
 * Switch to submodule.
 * Fix include path to matche branch topic/submodule of abstract-robot-dynamics.
 * Implements package name modifications from other packages.
 * Change related to abstract-robot-dynamics.
 * Remove deprecated headers + reinforce header name policy
 * Code cleaning.
 * Update the reference data file for testing Herdt's algorithm.
 * Remove m_EndPhaseOfWalking.
 * Regression test for Herdt2010.
 * Display information during regression test.
 * Allows Herdt algorithms to stop.
 * Add FootHalfSize as a file to be compiled.
 * Applies use of FootHalfSize to handle constraints on feet size.
 * Add new structure to handle data related to constraints on feet.
 * Removed hard-coded values related to feet linear constraints.
 * Win32 compatibility for the warning display
 * Move SupportState_t to privatepgtypes.h
 * Fix a compiling issue
 * Finalize merge for ZMPVelocityReferencedQP.
 * Finalize merge for OrientationsPreview.
 * Merge OrientationsPreview.
 * Acknowledge the fact that Velocity Reference is online anyway.
 * Correct protection for recursive inclusion.
 * Complete merge with vel-ref for FootConstraints.
 * Indent PGTypes to GNU format.
 * Remove trailing whitespace for PGTypes
 * Remove trailing whitespace for FootConstraints.
 * Finishes merge with vel-ref for FootConstraints
 * Transitional commit for merging.
 * Add SupportFSM in list of files to compile.
 * Add SupportFSM object
 * Remove StateSupport object.
 * Reindent following emacs format.
 * Remove trailing white spaces.
 * Difference between two real values below 1e-8 is consider as 0.
 * Remove trailing spaces.
 * Changed indentation style to GNU
 * Minor bugfix
 * Delete SupportSate class
 * Fix debian/watch file.
 * Revert "Moved the new type SupportState_t to PGTypes.h"
 * Revert "Online mode only"
 * Revert "Changed class name SupportState to SupportFSM"
 * Revert "Changed the structure of the FSM:"
 * Changed the structure of the FSM: Now pure FSM The current and previewed support states are given as parameters of the new type SupportState_t.
 * Changed class name SupportState to SupportFSM
 * Online mode only
 * Moved the new type SupportState_t to PGTypes.h
 * Bump Debian package version.
 * Added a new type for the support state
 * Added new functions: interpolateTrunkState interpolateFeetPositions
 * Fix output format for regression test.
 * Code cleaning and warn the user that it compiles with hrp2Dynamics.
 * Fix wrong test regarding hrp2Dynamics
 * Make sure that ZMPVelocityReferencedQP works again.
 * First of a series of clean ups. Removed some obsolete functions in ZMPVelocityReferencedQP, namely: ValidationConstraints EndPhaseOfTheWalking OnLineFootChange OnLineAddFoot buildZMPTrajectoryFromFootTrajectory!! GetZMPDiscretization!!
 * Update debian package.
 * Fix version debian/changelog.
 * Add missing dependencies to Debian package.
 * Fix missing export in debian/rules.
 * Remove trailing whitespaces.
 * Check that the robot model exists in unit tests.
 * Disable test suite.
 * Remove patch.

[v3.1.2]
 * Import private repository.

[v3.1.1]

[3.1.1]
 * Release 3.1.1
 * Add precision filtering for regression test.
 * Remove trailing time.
 * Implements the new policy of having the init pose outside this package.
 * Add reading of init pose file.
 * Prevent wrong access to the set of relative steps when changing foot.
 * Code cleanup.
 * Regression test based on sample.wrl
 * Fix Morisawa 2007 online steps generation.
 * Almost fix end part of online walking for Morisawa 2007 algorithm.
 * Fix a bug in debugging log.
 * Throw exceptions in case of problem.
 * Put back in shape off-line construction of trajectory for Morisawa 2007.
 * Format debugging.
 * Fix partially a problem related to time reference settings.
 * Implements modifications for regression. Make work Morisawa 2007.
 * Fix some problem related to the transfer from pointer to vector<double>.
 * Remove debug dumping.
 * Add debug information.
 * Change pointer to vector.
 * Starting regression tests.
 * Default directory for binary installation.
 * Fix syntax problem with some tests.
 * Fix test using & instead of &&.
 * Makes doc filename have short names.
 * Add setCoMPerturbationForce method Extend the PGI CoM and ZMP are initialized with respect to the initial posture
 * Add setState method
 * Correct the test by removing a warning.
 * An unsigned cannot be negative.
 * Win32: Exporting the method gettimeofday does not make sense
 * Correct the compilation order for unit test TestHerdt2010
 * The functions of a structure need to be exported too
 * Disable some verbose warnings for win32
 * functions for perturbations
 * First working implementation for the new API.
 * Add implementation of new PGTypes methods.
 * New API - Bookkeeping.
 * Added the possibility to change the number of steps before stop online.
 * Bump version 3.1.0 including Herdt's algorithm.
 * Put debug flag in off mode.
 * Normalize name and add dependencies.
 * Get the yaw.
 * Indentation + Beautification
 * Fix problem due to merge between master and andrei PLDP.
 * Indentation
 * Remove double free for ZMP-COM-Feet trajectories object.
 * Fix pb from merging master and pldp velocity reference branch.
 * Remove ~ files from git status.
 * Adapt PLDP to Velocity Reference ZMP-CoM-Feet trajectories generation scheme.
 * Change directory to install examples.
 * Install examples directory.
 * Adding package target.
 * Add missing initialization
 * Const static data must be defined outside the header
 * Add class to build linear constraints with velocity reference
 * Fix file name problem.
 * Final fix regarding andreinew-branch merging.
 * Assume that the solver will always been less than Sampling Period.
 * Fix a bug (foot trajectory) induced by merging.
 * Reorganize unit tests to make them easier to handle.
 * Add exception.
 * Fix orientation Angles are reinitialized each iteration.
 * Add uninstall target.
 * Minor fix. (Removed debug output)
 * Fix pb on the time computation.
 * Default initialization of Buffer limit for end motion.
 * Warn when no references to feet exist.
 * Reduced the size of the feet constraints slightly
 * Changed the chosen support foot during the DS->SS transition
 * Add velocity reference extension of the API.
 * Minor changes
 * Minor bugfix
 * Proper rad/degree conversion and absolute reference
 * Minor changes
 * Bugfix and minor changes
 * Bugfix + minor changes
 * Resolve conflicts
 * resolve conflict
 * Resolve conflicts
 * add centering of the feet
 * Security mechanism for the positionnning of the feet
 * Added a parallel double support phase
 * No logs
 * Minor changes
 * Lowered the height of the support feet to zero
 * changed the size of the simple support areas to 60*120 mm
 * Uninitialized value bugfix
 * Some modifications to prevent memory leaks
 * Minor modifications to avoid memory errors.
 * Bugfix and clean up
 * Cosmetic changes
 * Cosmetic changes
 * Hip joint constraints are read from the HDR object
 * Added velocity constraint of the swing leg
 * Algorithm for the generation of the feet orientations using 3rd and 4th order polynomials for the feet and the trunk
 * Added computation of derivatives
 * First version of the improved orientations algorithm.
 * Added function verifyAccelerationOfHipJoint
 * Added the body of the class OrientationsPreview
 * Added a new type COMState as the existing COMPosition does not include first and second derivatives of the Angles.
 * m_AnklePositionLeft protected -> public
 * minor change
 * Smaller modifications
 * Added interpolation of the height
 * Clean up
 * Modified the method for the interpolation of feet coordinates
 * Added online interpolation of the feet coordinates
 * Copies of FootTrajectoryGeneration classes slightly modified for online interpolation
 * Added temporarily a new function Herdt_Stop for the tests of the new online mode To be bypassed by a direct call soon.
 * Added method initOnLineHerdt
 * Added method OnLine: new QP solved when the stacks are close to get empty Added method InitOnLine: Precomputation of CoM ZMP and Feet values Added a time buffer for the computation of the problems (40 ms now)
 * Initialization of the first two feet through the constructor.
 * Modified Interface for online method.
 * Added reference setter
 * No changes just some clean up
 * New class, new profile
 * New structure to store the reference
 * New profile for online walking with Herdt2010IROS
 * Results now the same as in Scilab with the constraints of Nicolas
 * Integrated the feet position constraints in buildConstraintMatrices
 * Integrated the feet position constraints into footConstraintsAsLinearSystem
 * Convex hull of position constraint points
 * Added new deques and arrays for feet constraints
 * Simulation gives now with ZMP constraints the same results as in scilab.
 * Did the same as before for sagittal constraints.
 * Fixed buildConstraintMatrices
 * Fixed buildConstraintMatrices and validateConstraints.
 * Symmetrical constraints
 * Made a comparison with an identical problem in scilab.
 * Tried to fix the malloc error
 * Same constraints as in scilab.
 * Results now the same as in scilab
 * Further simplified the pb for debugging
 * Added debugging functions
 * Added a fixed double support phase
 * first version with simple QP: Minimization of the jerk, instantaneous velocities, zmp constraints, free feet positions.
 * Adapted the constraints to the new order of the variables.
 * Bugfix of the original version.
 * Prepared the linear part of the objective function
 * Bugfixing and minor improvement
 * buildConstraintMatrices: Working intermediate version
 * Working on buildConstraintMatrices
 * Minor Bugfix Better debugging
 * Bugfix: Time passed in the preview window is now taken into account
 * SupportState is written in SupportStates.dat every time setSupportState is called.
 * Bugfix SF_it was not initialized properly
 * Trace-printfs
 * New functions buildZMPTraje... and buildConstraintMat... Restored the old function BuildZMPTraje... Both programs should now run in parallel
 * Bugfix: The matrices D and Dc are computed at each iteration step. Optimization necessary later on. Added tracing printfs.
 * Just a delete of the new object f_CALS in the destructor
 * Just some tracing printfs
 * Debugged both files and added printfs at the borders of relevant functions for somewhat easier tracing in the future. Debugging: The queue QueueOfSupportFeet and the variables FPx, FPy, FPtheta are not declared nor in the header file nor in the constructor anymore.
 * Should work again version but does not
 * Buggy version: corrupt double linked list
 * adapted the code to the new type
 * added new type of linear inequalities
 * cleaned the code
 * Almost working version
 * asdf
 * Uninitialized value bugfix
 * Some modifications to prevent memory leaks
 * Minor modifications to avoid memory errors.
 * Bugfix and clean up
 * Cosmetic changes
 * Cosmetic changes
 * Hip joint constraints are read from the HDR object
 * Added velocity constraint of the swing leg
 * Algorithm for the generation of the feet orientations using 3rd and 4th order polynomials for the feet and the trunk
 * Added computation of derivatives
 * First version of the improved orientations algorithm.
 * Added function verifyAccelerationOfHipJoint
 * Added the body of the class OrientationsPreview
 * Added a new type COMState as the existing COMPosition does not include first and second derivatives of the Angles.
 * m_AnklePositionLeft protected -> public
 * minor change
 * Smaller modifications
 * Added interpolation of the height
 * Some indexes of A and c where not initialized, crashing the test in Debug mode
 * Add attribute initialization in initialization list
 * The unitTest testOptCholesky and TestRiccatiEquation can be compiled under windows
 * Simplify the CMakeLists (there was no need to do these tests)
 * Clean up
 * Modified the method for the interpolation of feet coordinates
 * Added online interpolation of the feet coordinates
 * Copies of FootTrajectoryGeneration classes slightly modified for online interpolation
 * Added temporarily a new function Herdt_Stop for the tests of the new online mode To be bypassed by a direct call soon.
 * Added method initOnLineHerdt
 * Added method OnLine: new QP solved when the stacks are close to get empty Added method InitOnLine: Precomputation of CoM ZMP and Feet values Added a time buffer for the computation of the problems (40 ms now)
 * Initialization of the first two feet through the constructor.
 * Modified Interface for online method.
 * Do not destroy the robot model.
 * Added reference setter
 * No changes just some clean up
 * New class, new profile
 * New structure to store the reference
 * New profile for online walking with Herdt2010IROS
 * Results now the same as in Scilab with the constraints of Nicolas
 * Integrated the feet position constraints in buildConstraintMatrices
 * Integrated the feet position constraints into footConstraintsAsLinearSystem
 * Convex hull of position constraint points
 * Added new deques and arrays for feet constraints
 * Simulation gives now with ZMP constraints the same results as in scilab.
 * Did the same as before for sagittal constraints.
 * Fixed buildConstraintMatrices
 * Fixed buildConstraintMatrices and validateConstraints.
 * Symmetrical constraints
 * Made a comparison with an identical problem in scilab.
 * Tried to fix the malloc error
 * Same constraints as in scilab.
 * Results now the same as in scilab
 * Further simplified the pb for debugging
 * Added debugging functions
 * Added a fixed double support phase
 * first version with simple QP: Minimization of the jerk, instantaneous velocities, zmp constraints, free feet positions.
 * Adapted the constraints to the new order of the variables.
 * Bugfix of the original version.
 * Prepared the linear part of the objective function
 * Bugfixing and minor improvement
 * buildConstraintMatrices: Working intermediate version
 * Working on buildConstraintMatrices
 * Minor Bugfix Better debugging
 * Bugfix: Time passed in the preview window is now taken into account
 * SupportState is written in SupportStates.dat every time setSupportState is called.
 * Bugfix SF_it was not initialized properly
 * Trace-printfs
 * New functions buildZMPTraje... and buildConstraintMat... Restored the old function BuildZMPTraje... Both programs should now run in parallel
 * Bugfix: The matrices D and Dc are computed at each iteration step. Optimization necessary later on. Added tracing printfs.
 * Just a delete of the new object f_CALS in the destructor
 * Just some tracing printfs
 * Debugged both files and added printfs at the borders of relevant functions for somewhat easier tracing in the future. Debugging: The queue QueueOfSupportFeet and the variables FPx, FPy, FPtheta are not declared nor in the header file nor in the constructor anymore.
 * Should work again version but does not
 * Buggy version: corrupt double linked list
 * Fix precision problem.
 * adding a sensitivity test to cope with numeric approximations when generating foot steps. This resulted in discontinuities in the foot reference when starting a step sequence.
 * adapted the code to the new type
 * added new type of linear inequalities
 * cleaned the code
 * Almost working version
 * Dump current version as 3.0.2.99
 * asdf

[3.0.3]
 * Release 3.0.3
 * Notify GNU-LGPL-v3 license.

[3.1.0]
 * Bump version 3.1.0 including Herdt's algorithm.
 * Put debug flag in off mode.
 * Normalize name and add dependencies.
 * Get the yaw.
 * Indentation + Beautification
 * Fix problem due to merge between master and andrei PLDP.
 * Indentation
 * Remove double free for ZMP-COM-Feet trajectories object.
 * Fix pb from merging master and pldp velocity reference branch.
 * Remove ~ files from git status.
 * Adapt PLDP to Velocity Reference ZMP-CoM-Feet trajectories generation scheme.
 * Change directory to install examples.
 * Install examples directory.
 * Adding package target.
 * Add missing initialization
 * Const static data must be defined outside the header
 * Add class to build linear constraints with velocity reference
 * Fix file name problem.
 * Final fix regarding andreinew-branch merging.
 * Assume that the solver will always been less than Sampling Period.
 * Fix a bug (foot trajectory) induced by merging.
 * Reorganize unit tests to make them easier to handle.
 * Add exception.
 * Fix orientation Angles are reinitialized each iteration.
 * Add uninstall target.
 * Minor fix. (Removed debug output)
 * Fix pb on the time computation.
 * Default initialization of Buffer limit for end motion.
 * Warn when no references to feet exist.
 * Reduced the size of the feet constraints slightly
 * Changed the chosen support foot during the DS->SS transition
 * Add velocity reference extension of the API.
 * Minor changes
 * Minor bugfix
 * Proper rad/degree conversion and absolute reference
 * Minor changes
 * Bugfix and minor changes
 * Bugfix + minor changes
 * Resolve conflicts
 * resolve conflict
 * Resolve conflicts
 * add centering of the feet
 * Security mechanism for the positionnning of the feet
 * Added a parallel double support phase
 * No logs
 * Minor changes
 * Lowered the height of the support feet to zero
 * changed the size of the simple support areas to 60*120 mm
 * Uninitialized value bugfix
 * Some modifications to prevent memory leaks
 * Minor modifications to avoid memory errors.
 * Bugfix and clean up
 * Cosmetic changes
 * Cosmetic changes
 * Hip joint constraints are read from the HDR object
 * Added velocity constraint of the swing leg
 * Algorithm for the generation of the feet orientations using 3rd and 4th order polynomials for the feet and the trunk
 * Added computation of derivatives
 * First version of the improved orientations algorithm.
 * Added function verifyAccelerationOfHipJoint
 * Added the body of the class OrientationsPreview
 * Added a new type COMState as the existing COMPosition does not include first and second derivatives of the Angles.
 * m_AnklePositionLeft protected -> public
 * minor change
 * Smaller modifications
 * Added interpolation of the height
 * Clean up
 * Modified the method for the interpolation of feet coordinates
 * Added online interpolation of the feet coordinates
 * Copies of FootTrajectoryGeneration classes slightly modified for online interpolation
 * Added temporarily a new function Herdt_Stop for the tests of the new online mode To be bypassed by a direct call soon.
 * Added method initOnLineHerdt
 * Added method OnLine: new QP solved when the stacks are close to get empty Added method InitOnLine: Precomputation of CoM ZMP and Feet values Added a time buffer for the computation of the problems (40 ms now)
 * Initialization of the first two feet through the constructor.
 * Modified Interface for online method.
 * Added reference setter
 * No changes just some clean up
 * New class, new profile
 * New structure to store the reference
 * New profile for online walking with Herdt2010IROS
 * Results now the same as in Scilab with the constraints of Nicolas
 * Integrated the feet position constraints in buildConstraintMatrices
 * Integrated the feet position constraints into footConstraintsAsLinearSystem
 * Convex hull of position constraint points
 * Added new deques and arrays for feet constraints
 * Simulation gives now with ZMP constraints the same results as in scilab.
 * Did the same as before for sagittal constraints.
 * Fixed buildConstraintMatrices
 * Fixed buildConstraintMatrices and validateConstraints.
 * Symmetrical constraints
 * Made a comparison with an identical problem in scilab.
 * Tried to fix the malloc error
 * Same constraints as in scilab.
 * Results now the same as in scilab
 * Further simplified the pb for debugging
 * Added debugging functions
 * Added a fixed double support phase
 * first version with simple QP: Minimization of the jerk, instantaneous velocities, zmp constraints, free feet positions.
 * Adapted the constraints to the new order of the variables.
 * Bugfix of the original version.
 * Prepared the linear part of the objective function
 * Bugfixing and minor improvement
 * buildConstraintMatrices: Working intermediate version
 * Working on buildConstraintMatrices
 * Minor Bugfix Better debugging
 * Bugfix: Time passed in the preview window is now taken into account
 * SupportState is written in SupportStates.dat every time setSupportState is called.
 * Bugfix SF_it was not initialized properly
 * Trace-printfs
 * New functions buildZMPTraje... and buildConstraintMat... Restored the old function BuildZMPTraje... Both programs should now run in parallel
 * Bugfix: The matrices D and Dc are computed at each iteration step. Optimization necessary later on. Added tracing printfs.