Check MultiBody ZMP with TestNaveau

Current tests done by @imaroger seems to show that the robot is unstable above 12.5 cm/s. We need to check if the dynamic filter is doing its work. That is the point of this issue.

To advance on this issue here is the graph displaying the difference between the ZMP reference and the ZMP multibody inside the WPG.

Note that the CoM is strongly modified from 3 to 5 cm.

Comparison between the reference ZMP and the ZMP multi-body after the dynamical filter correction for a 10 cm/s walk

closed