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Created with Raphaël 2.2.025Jul2317109843130Jun2726242019181716121164228May262221201816141098622Apr201817227Mar26252421201918171413121110728Feb271412111075330Jan292821201410712Dec96229Oct2820Sep1917131211109525Jun23May151Mar26Feb1812Mar29Nov2823171615325Oct24232221201918151413121110865432Sep30Aug262419181025Jul1311107630Jun292724222116151413109632130May27232218164221Apr1611Mar72128Feb235Jan318Dec4330Nov292420191817Adding zmp initialization in the Herdt2010 PG.Adding equality constraint in the QP of the Herdt2010 algortihm to limit the evolution of the feet close to the landing time.adding upper body motionadding the upper part posturecompute the inverse kinematics inside the testintegration of the time of the rneaUpdate ChangeLogv3.2.0v3.2.0correct the size of the corrected buffercleaning most of the warning, fixed the AnalyticalMorisawaCompact.cpp indentationremove some warningMerge branch 'topic/StairWalking' into topic/mergeCorrect bug introduced in 846be4ab58282d87.Finish the implementation of the Kajita dynamic filter in herdtTest dynamic filter on Moriswa's online PGMerge branch 'topic/dynamic_filter_with_metapod_morisawaZMPDiscretization' into topic/mergeclean the ZMPDiscretization fonction from the dynamic filterFiltering Morisawa PG in ZMPDiscretization functionCleaning the part with ZMPDiscretizationFiltering the straight walking of Morisawa ZMPDiscretizationModify the use of the Kajita PC in the dynamic filter.Modification Time change foot Morisawa PGclean ofstream outpoutinclude the computation of the orientation of the waist in the Morisawa PGFinal CommitFinal CommitClean code and commentmodify the intialisation of the dynamic filter in Herdt2010Prepare the computation of the waist with metapodClean and commentMerge branch 'master' into topic/footTrajectoryClean code 24/06/2014try to compute the Free Flyer pos speed and acc with metapod.debugging the dynamic filterSteps Seq Down 15cm 19/06/2014Eliminate some useless variables form the file StepStackhandler.cppDebugging the class dynamic filter and prepare the Morisawa PG to include the classpreparing the PG of Morisawa for the dynamic filter (2)preparing the PG of Morisawa for the dynamic filterCreating a class plugable on all PG. It has the purpose to filter the comtest 3 steps 15cm height OK 16/06/2014