.gitmodules

 [submodule "cmake"]
 	path = cmake
 	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
-[submodule ".travis"]
-	path = .travis
-	url = https://github.com/MaximilienNaveau/jrl-travis.git

.pre-commit-config.yaml

+ci:
+  autoupdate_branch: devel
+repos:
+- repo: https://github.com/PyCQA/isort
+  rev: 5.12.0
+  hooks:
+  - id: isort
+    args:
+    - --profile
+    - black
+    - --filter-files
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format
+    exclude: '^tests/Test*'
+- repo: https://github.com/pappasam/toml-sort
+  rev: v0.23.1
+  hooks:
+  - id: toml-sort-fix
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v16.0.4
+  hooks:
+  - id: clang-format
+    args:
+    - --style=Google
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.4.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-ast
+  - id: check-executables-have-shebangs
+  - id: check-json
+  - id: check-merge-conflict
+  - id: check-symlinks
+  - id: check-toml
+  - id: check-yaml
+  - id: debug-statements
+  - id: destroyed-symlinks
+  - id: detect-private-key
+  - id: end-of-file-fixer
+  - id: fix-byte-order-marker
+  - id: mixed-line-ending
+  - id: trailing-whitespace
+- repo: https://github.com/psf/black
+  rev: 23.3.0
+  hooks:
+  - id: black
+- repo: https://github.com/pycqa/flake8
+  rev: 6.0.0
+  hooks:
+  - id: flake8
+    args:
+    - --max-line-length
+    - '88'

.travis @ 41f68823

-Subproject commit 41f6882329e97397e9c92ac55218a447461e03d0

.travis.yml

-language: cpp
-sudo: required
-compiler:
-  - gcc
-  - clang
-env: 
-  global:
-    - secure: ViEXlUgT66UGxlMPd2ZmZdB9rhFS3rsl6ktJFdyRukdXwZl3/5boy95RJJawFSQ4PmcKX35oZ5Afl7CSuT5r7uiEoFCeZu38b80E3BsuUr4zPgdZS4hI818L/MPhahmN5ravefVbDl+Yf95bWQ79EYj45yvh1dJH+YRBD+ucPDk=
-    - "APT_DEPENDENCIES=doxygen doxygen-latex libboost-all-dev libeigen3-dev liblapack-dev libblas-dev gfortran"
-    - DEBSIGN_KEYID=5AE5CD75
-    - LCOV_IGNORE_RULES="*unittest* /opt/openrobots/*"
-notifications:
-  email:
-    - hpp-source@laas.fr
-branches:
-  only:
-    - master
-matrix:
-  allow_failures:
-    - compiler: clang
-before_install: ./travis_custom/custom_before_install
-install:
-  - pip install --user coveralls
-script:
-  - sudo free -m -t
-  - travis_wait ./.travis/run ../travis_custom/custom_build
-script: ./.travis/run ../travis_custom/custom_build
-after_failure: ./.travis/run ../travis_custom/custom_after_failure
-after_success:
-  - ./.travis/run after_success
-  - export PYTHONPATH=/tmp/_ci/install/lib/python2.7/site-packages
-  - coveralls-lcov -v -n /tmp/_ci/build/coverage.info > coverage.json
-  - coverage run ./python/tests.py
-  - coveralls --merge=coverage.json

CMakeLists.txt

-# Copyright 2010, 2020, Olivier Stasse, Guilhem Saurel, JRL, CNRS/AIST, LAAS-CNRS
-# See LICENSE file.
+# Copyright 2010, 2020, Olivier Stasse, Guilhem Saurel, JRL, CNRS/AIST,
+# LAAS-CNRS See LICENSE file.
 
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)
 
 # Project properties
-SET(PROJECT_ORG stack-of-tasks)
-SET(PROJECT_NAME jrl-walkgen)
-SET(PROJECT_DESCRIPTION "Walking pattern generator for Humanoids")
-SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_NAME jrl-walkgen)
+set(PROJECT_DESCRIPTION "Walking pattern generator for Humanoids")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
 # Project options
-OPTION(USE_LSSOL "Do you want to use the solver lssol?" OFF)
-OPTION(USE_QUADPROG "Do you want to use the solver eigen-quadprog?" ON)
-OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+option(USE_LSSOL "Do you want to use the solver lssol?" OFF)
+option(USE_QUADPROG "Do you want to use the solver eigen-quadprog?" ON)
+option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+option(FULL_BUILD_TESTING "Complete and long testing" OFF)
 
 # Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CXX_DISABLE_WERROR TRUE)
-SET(DOXYGEN_USE_MATHJAX YES)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CXX_DISABLE_WERROR TRUE)
+set(DOXYGEN_USE_MATHJAX YES)
 
 # JRL-cmakemodule setup
-INCLUDE(cmake/base.cmake)
+include(cmake/base.cmake)
 
 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX C)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+compute_project_args(PROJECT_ARGS LANGUAGES CXX C)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
 
 # Project dependencies
-ADD_PROJECT_DEPENDENCY(LAPACK REQUIRED)
-ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES pinocchio)
-
-IF(BUILD_TESTING)
-  ADD_REQUIRED_DEPENDENCY("talos_data >= 1.2.1")
-  #ADD_OPTIONAL_DEPENDENCY("hrp2_14_description >= 1.0.2")
-ENDIF(BUILD_TESTING)
+add_project_dependency(LAPACK REQUIRED)
+add_project_dependency(pinocchio REQUIRED)
 
 # Handle OS specificities
-INCLUDE(CheckIncludeFile)
-CHECK_INCLUDE_FILE("sys/time.h" SYS_TIME_H)
-#IF(SYS_TIME_H)
-ADD_DEFINITIONS("-DHAVE_SYS_TIME_H")
-#ENDIF(SYS_TIME_H)
-
-# TODO kinda dirty patch to find lssol for now
-#  using ADD_OPTIONAL_DEPENDENCY prevents the creation
-#  of classic variables such as ${PKG}_FOUND
-# hence we use ADD_REQUIRED_DEPENDENCY to get the data
-IF(USE_LSSOL)
-  ADD_REQUIRED_DEPENDENCY("lssol >= 0.1.0")
-ENDIF(USE_LSSOL)
-
-IF(USE_QUADPROG)
-  ADD_REQUIRED_DEPENDENCY("eigen-quadprog >= 1.0.0")
-ENDIF(USE_QUADPROG)
+include(CheckIncludeFile)
+check_include_file("sys/time.h" SYS_TIME_H)
+if(SYS_TIME_H)
+  add_definitions("-DHAVE_SYS_TIME_H")
+endif(SYS_TIME_H)
+
+# TODO kinda dirty patch to find lssol for now using ADD_OPTIONAL_DEPENDENCY
+# prevents the creation of classic variables such as ${PKG}_FOUND hence we use
+# ADD_REQUIRED_DEPENDENCY to get the data
+if(USE_LSSOL)
+  add_required_dependency("lssol >= 0.1.0")
+endif(USE_LSSOL)
+
+if(USE_QUADPROG)
+  add_project_dependency(eigen-quadprog REQUIRED)
+endif(USE_QUADPROG)
 
 # Add aggressive optimization flags in release mode.
-IF(CMAKE_COMPILER_IS_GNUCXX)
-  SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG ")
-ENDIF(CMAKE_COMPILER_IS_GNUCXX)
+if(CMAKE_COMPILER_IS_GNUCXX)
+  set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG ")
+endif(CMAKE_COMPILER_IS_GNUCXX)
 
 # Main Library
-CONFIGURE_FILE(src/configJRLWPG.hh.in src/configJRLWPG.hh)
-SET(${PROJECT_NAME}_HEADERS
-  include/jrl/walkgen/patterngeneratorinterface.hh
-  include/jrl/walkgen/pgtypes.hh
-  include/jrl/walkgen/pinocchiorobot.hh
-  )
-
-SET(${PROJECT_NAME}_SOURCES
-  src/RobotDynamics/pinocchiorobot.cpp
-  src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp
-  src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
-  src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp
-  src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
-  src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
-  src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp
-  src/GlobalStrategyManagers/GlobalStrategyManager.cpp
-  src/GlobalStrategyManagers/DoubleStagePreviewControlStrategy.cpp
-  src/Mathematics/AnalyticalZMPCOGTrajectory.cpp
-  src/Mathematics/ConvexHull.cpp
-  src/Mathematics/FootConstraintsAsLinearSystem.cpp
-  #src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
-  src/Mathematics/FootHalfSize.cpp
-  src/Mathematics/OptCholesky.cpp
-  src/Mathematics/Bsplines.cpp
-  src/Mathematics/Polynome.cpp
-  src/Mathematics/PolynomeFoot.cpp
-  src/Mathematics/PLDPSolver.cpp
-  src/Mathematics/qld.cpp
-  src/Mathematics/StepOverPolynome.cpp
-  src/Mathematics/relative-feet-inequalities.cpp
-  src/Mathematics/intermediate-qp-matrices.cpp
-  src/PreviewControl/PreviewControl.cpp
-  src/PreviewControl/OptimalControllerSolver.cpp
-  src/PreviewControl/ZMPPreviewControlWithMultiBodyZMP.cpp
-  src/PreviewControl/LinearizedInvertedPendulum2D.cpp
-  src/PreviewControl/rigid-body.cpp
-  src/PreviewControl/rigid-body-system.cpp
-  src/PreviewControl/SupportFSM.cpp
-  src/ZMPRefTrajectoryGeneration/ZMPRefTrajectoryGeneration.cpp
-  src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp
-  src/ZMPRefTrajectoryGeneration/ZMPQPWithConstraint.cpp
-  src/ZMPRefTrajectoryGeneration/ZMPConstrainedQPFastFormulation.cpp
-  src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
-  src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
-  src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaAbstract.cpp
-  src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
-  src/ZMPRefTrajectoryGeneration/FilteringAnalyticalTrajectoryByPreviewControl.cpp
-  src/ZMPRefTrajectoryGeneration/problem-vel-ref.cpp
-  src/ZMPRefTrajectoryGeneration/qp-problem.cpp
-  src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
-  src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp
-  src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
-  #src/MultiContactRefTrajectoryGeneration/MultiContactHirukawa.cc
-  src/MotionGeneration/StepOverPlanner.cpp
-  src/MotionGeneration/CollisionDetector.cpp
-  src/MotionGeneration/WaistHeightVariation.cpp
-  src/MotionGeneration/UpperBodyMotion.cpp
-  src/MotionGeneration/GenerateMotionFromKineoWorks.cpp
-  src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
-  src/StepStackHandler.cpp
-  src/PatternGeneratorInterfacePrivate.cpp
-  src/SimplePlugin.cpp
-  src/SimplePluginManager.cpp
-  src/pgtypes.cpp
-  src/Clock.cpp
-  src/portability/gettimeofday.cc
-  src/privatepgtypes.cpp
-  )
 
-IF(USE_QUADPROG)
-  SET(${PROJECT_NAME}_SOURCES
-    ${${PROJECT_NAME}_SOURCES}
-    src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp
-    src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp
-    )
-ENDIF(USE_QUADPROG)
-
-ADD_LIBRARY(${PROJECT_NAME} SHARED
-  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PRIVATE
-  $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src>
-  $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/FootTrajectoryGeneration>
+set(${PROJECT_NAME}_HEADERS
+    include/jrl/walkgen/patterngeneratorinterface.hh
+    include/jrl/walkgen/pgtypes.hh include/jrl/walkgen/pinocchiorobot.hh)
+
+set(${PROJECT_NAME}_SOURCES
+    src/RobotDynamics/pinocchiorobot.cpp
+    src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp
+    src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
+    src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp
+    src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
+    src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
+    src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp
+    src/GlobalStrategyManagers/GlobalStrategyManager.cpp
+    src/GlobalStrategyManagers/DoubleStagePreviewControlStrategy.cpp
+    src/Mathematics/AnalyticalZMPCOGTrajectory.cpp
+    src/Mathematics/ConvexHull.cpp
+    src/Mathematics/FootConstraintsAsLinearSystem.cpp
+    # src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
+    src/Mathematics/FootHalfSize.cpp
+    src/Mathematics/OptCholesky.cpp
+    src/Mathematics/Bsplines.cpp
+    src/Mathematics/Polynome.cpp
+    src/Mathematics/PolynomeFoot.cpp
+    src/Mathematics/PLDPSolver.cpp
+    src/Mathematics/qld.cpp
+    src/Mathematics/StepOverPolynome.cpp
+    src/Mathematics/relative-feet-inequalities.cpp
+    src/Mathematics/intermediate-qp-matrices.cpp
+    src/PreviewControl/PreviewControl.cpp
+    src/PreviewControl/OptimalControllerSolver.cpp
+    src/PreviewControl/ZMPPreviewControlWithMultiBodyZMP.cpp
+    src/PreviewControl/LinearizedInvertedPendulum2D.cpp
+    src/PreviewControl/rigid-body.cpp
+    src/PreviewControl/rigid-body-system.cpp
+    src/PreviewControl/SupportFSM.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPRefTrajectoryGeneration.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPQPWithConstraint.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPConstrainedQPFastFormulation.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+    src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
+    src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaAbstract.cpp
+    src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+    src/ZMPRefTrajectoryGeneration/FilteringAnalyticalTrajectoryByPreviewControl.cpp
+    src/ZMPRefTrajectoryGeneration/problem-vel-ref.cpp
+    src/ZMPRefTrajectoryGeneration/qp-problem.cpp
+    src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
+    src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp
+    src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
+    # src/MultiContactRefTrajectoryGeneration/MultiContactHirukawa.cc
+    src/MotionGeneration/StepOverPlanner.cpp
+    src/MotionGeneration/CollisionDetector.cpp
+    src/MotionGeneration/WaistHeightVariation.cpp
+    src/MotionGeneration/UpperBodyMotion.cpp
+    src/MotionGeneration/GenerateMotionFromKineoWorks.cpp
+    src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
+    src/StepStackHandler.cpp
+    src/PatternGeneratorInterfacePrivate.cpp
+    src/SimplePlugin.cpp
+    src/SimplePluginManager.cpp
+    src/pgtypes.cpp
+    src/Clock.cpp
+    src/portability/gettimeofday.cc
+    src/privatepgtypes.cpp)
+
+if(USE_QUADPROG)
+  set(${PROJECT_NAME}_SOURCES
+      ${${PROJECT_NAME}_SOURCES}
+      src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp
+      src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp)
+endif(USE_QUADPROG)
+
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+                                   ${${PROJECT_NAME}_HEADERS})
+target_include_directories(
+  ${PROJECT_NAME}
+  PRIVATE $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src>
+          $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/FootTrajectoryGeneration>
   PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LAPACK_LIBRARIES} pinocchio::pinocchio)
-
-IF(SUFFIX_SO_VERSION)
-  SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
-ENDIF(SUFFIX_SO_VERSION)
-
-SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES
-  COMPILE_FLAGS "-msse -msse2 -msse3 -march=core2 -mfpmath=sse -fivopts -ftree-loop-im -fipa-pta ")
-
-IF(USE_LSSOL)
-  PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} lssol)
-ENDIF(USE_LSSOL)
+target_link_libraries(${PROJECT_NAME} ${LAPACK_LIBRARIES} pinocchio::pinocchio)
+if(USE_QUADPROG)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC USE_QUADPROG=1)
+endif(USE_QUADPROG)
+
+if(SUFFIX_SO_VERSION)
+  set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+endif(SUFFIX_SO_VERSION)
+
+if(UNIX AND NOT APPLE)
+  set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES
+      COMPILE_FLAGS
+      "-msse -msse2 -msse3 -march=core2 -mfpmath=sse -fivopts -ftree-loop-im -fipa-pta "
+  )
+endif(UNIX AND NOT APPLE)
 
-IF(USE_QUADPROG)
-  PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} eigen-quadprog)
-ENDIF(USE_QUADPROG)
+if(USE_QUADPROG)
+  target_link_libraries(${PROJECT_NAME} eigen-quadprog::eigen-quadprog)
+endif(USE_QUADPROG)
 
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION lib)
 
-ADD_SUBDIRECTORY(tests)
+add_subdirectory(tests)
 
-PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY srdf DESTINATION share/${PROJECT_NAME})

README.md

-jrl-walkgen
-===========
+# jrl-walkgen
 
 [![Building Status](https://travis-ci.org/stack-of-tasks/jrl-walkgen.svg?branch=master)](https://travis-ci.org/stack-of-tasks/jrl-walkgen)
-[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/jrl-walkgen/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/jrl-walkgen/commits/master)
-[![Coverage report](https://gepgitlab.laas.fr/stack-of-tasks/jrl-walkgen/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/jrl-walkgen/master/coverage/)
+[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/jrl-walkgen/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/jrl-walkgen/commits/master)
+[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/jrl-walkgen/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/jrl-walkgen/master/coverage/)
 
 This software provides a pattern generator for biped robots.
 
@@ -11,8 +10,7 @@ It relies on the [StackOfTasks/Pinocchio][StackOfTasks/Pinocchio]
 specification to realize dynamics computation.
 
 
-Setup
------
+## Setup
 
 To compile this package, it is recommended to create a separate build
 directory:
@@ -35,22 +33,15 @@ have to be available on your machine.
    - [pinocchio][https://github.com/stack-of-tasks/pinocchio] (>= 1.1.0)
      The pattern generator uses dynamics provided by the pinocchio template
    programming interface.
-   - [jrl-mal][https://github.com/jrl-umi3218/jrl-mal] (>= 1.9.0)
-   - [qpOASES][https://projects.coin-or.org/qpOASES] (normally compatible with
-   the last version)
-   - [simple-humanoid-description][https://github.com/MaximilienNaveau/simple_humanoid_description.git] ( >= 1.0.1)
-   - Boost
-   - Eigen
+   - [eigen-quadprog][https://github.com/jrl-umi3218/eigen-quadprog]
 
  - System tools:
-   - CMake (>=2.6)
-   - pkg-config
+   - CMake (>=3.1)
    - usual compilation tools (GCC/G++, make, etc.)
 
 
 
-Additional notes regarding compilation on Microsoft Windows
------------------------------------------------------------
+## Additional notes regarding compilation on Microsoft Windows
 
 This package has been tested using Microsoft Visual Studio 8.
 

cmake @ f4997a81

-Subproject commit 321eb1ccf1d94570eb564f3659b13ef3ef82239e
+Subproject commit f4997a81cebfa2dfb69733bc088c55688965dfe8

doc/Doxyfile.extra.in

@@ -4,7 +4,4 @@ INPUT                  = @CMAKE_SOURCE_DIR@/include \
 		         @CMAKE_SOURCE_DIR@/doc/additionalHeader
 IMAGE_PATH             = @CMAKE_SOURCE_DIR@/doc/pictures
 
-TAGFILES               = \
-"@ABSTRACT_ROBOT_DYNAMICS_DOXYGENDOCDIR@/abstract-robot-dynamics.doxytag = @ABSTRACT_ROBOT_DYNAMICS_DOXYGENDOCDIR@" \
-"@JRL_MAL_DOXYGENDOCDIR@/jrl-mal.doxytag = @JRL_MAL_DOXYGENDOCDIR@" \
-"@JRL_DYNAMICS_DOXYGENDOCDIR@/jrl-dynamics.doxytag = @JRL_DYNAMICS_DOXYGENDOCDIR@"
+TAGFILES               =

doc/IEEEbib.bst

@@ -48,7 +48,7 @@ FUNCTION {output.nonnull}
     { output.state after.block =
 % next line commented out by rhr and changed to write comma
 %	{ add.period$ write$
-	{ ", " * write$ 
+	{ ", " * write$
 	  newline$
 	  "\newblock " write$
 	}
@@ -96,7 +96,7 @@ FUNCTION {fin.entry}
 }
 
 % 5/24/89 rhr
-%  modified fin.entry function - prints note field after body of entry  
+%  modified fin.entry function - prints note field after body of entry
 %FUNCTION {fin.entry}
 %{ add.period$
 %  note empty$
@@ -117,7 +117,7 @@ FUNCTION {new.block}
 % new block without terminating last block with a comma
 FUNCTION {new.ncblock}
 {
-  write$ 
+  write$
   newline$
   "\newblock "
   before.all 'output.state :=
@@ -125,7 +125,7 @@ FUNCTION {new.ncblock}
 
 FUNCTION {new.nccont}
 {
-  write$ 
+  write$
   " "
   before.all 'output.state :=
 }
@@ -321,7 +321,7 @@ FUNCTION {format.date}
 
 % FUNCTION {format.date}
 % { year empty$
-% 	'year 
+% 	'year
 % 	{ " "  year * }
 %   if$
 % }
@@ -423,7 +423,7 @@ FUNCTION {format.pages}
 }
 
 FUNCTION {format.vol.num.pages}
-{ 
+{
 volume empty$
    {"" }
    {"vol. " volume *}

doc/PatternGeneratorMain.tex

@@ -30,7 +30,7 @@
 %{\large Title still undecided}\\
 }
 \vspace*{0.5cm}
-{\large \bf 
+{\large \bf
 Olivier Stasse, Ramzi Sellouati\\
 \vspace*{0.5cm}
 \normalsize{

doc/figures/PatternGenerator/AngularMomentum.ps

@@ -222,7 +222,7 @@ gnudict begin
 /PentE { stroke [] 0 setdash gsave
   translate 0 hpt M 4 {72 rotate 0 hpt L} repeat
   closepath stroke grestore } def
-/CircE { stroke [] 0 setdash 
+/CircE { stroke [] 0 setdash
   hpt 0 360 arc stroke } def
 /Opaque { gsave closepath 1 setgray fill grestore 0 setgray closepath } def
 /DiaW { stroke [] 0 setdash vpt add M
@@ -242,7 +242,7 @@ gnudict begin
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doc/figures/PatternGenerator/CartTableModel.fig

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doc/figures/PatternGenerator/FigurePC1_X.ps

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@@ -242,7 +242,7 @@ gnudict begin
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doc/figures/PatternGenerator/FigurePC1_Y.ps

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doc/figures/PatternGenerator/HondaP2ControlMarche.fig

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doc/figures/PatternGenerator/InverseKinematics.fig

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doc/figures/PatternGenerator/InverseKinematics2.fig

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doc/figures/PatternGenerator/InverseKinemtics3.fig

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