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Created with Raphaël 2.2.09May8622Apr201817227Mar26252421201918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb235Jan318Dec4330Nov292420191817161512109898654129Oct28cleaning cout and ofstream debugging tools functionsAdding debugging toolsadd TestBsplines.cppImplementation of the bspline trajectory for footZxxTry to step on spotAdd an assertion to avoid nul size of the sole.Use waist rather than root to create the chain.Remove useless IndexInVRML vector.adding comments in the codeCorrect 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).Creation of function that compute the position of a third step to interpolate elong the whole preview contrl, still debugging.investing the orientation preview computationCorrection of a bug linked to the interpolation periodthe modification bring contunous CoM and ZMP along time but increase the error between the zmp ref and the zmp multibodyCreation of independant interpolation function for decoupling the dynamic filter from the pgDeveloppement of an architecture around the interpolation that makes the subsampling easierUsage of the interpolation functionreplacement of the RigidBodySystem class by the OnLineFootTrajectoryGeneration to compute the interpolation of the feet trajectorysame commit but compilingcreation of an interpolation functionChanging the initial condition by starting with the right foot, no divergenceRewritting of some variables name to follow the convention of the class ZMPVelocitReferenceQPbefore switching branchDevelopping the herdt test to compute the difference between the multi body ZMP and the ZMP of referenceAdding security a security that block the computation of the dynamic filter while sending 0.0 velocity as commandmerging some feature from the master branchadding debuging features to the kajita2003 testadding some files in the .gitignorecommit before switching branchesErase of the most recent function to compute the trunk orientation.few changessolving the probleme of com orientation, now coupling with the feet orientationscommit before creation of a test branchComputing the initial difference between the ZMPref and the ZMPMB and addinng it into the lop.few changesfew changesDebug of the dynamic filter and the use of RNEA from metapodWritting down the articulation configurations for openHRP