ref https://github.com/stack-of-tasks/pinocchio/issues/849

Olivier Stasse authored 6 years ago and olivier stasse committed 6 years ago

Device should be the one prodiving its timestep.

* Change naming convention of CONTROL_TYPE.
* Add function setNoIntegration in the SoTAbstract External Interface
* Move robotState signal from sot-hrp2-device to sot-core.
* Create additional signal robotVelocity to map the velocity sensor data from robot/simulators

[eigen] Replacing jrl-mal with eigen. Removed solvers sot-h, weighted-sot, solver-hierarchical-inequalities.

>Todo: computederivation template specialization for vectorquaternion in derivator.h
>Removed solvers
>does not build

  Add a command to switch from first to second order kinematics.
  In second order kinematics, configuration second derivative is equal to
  control.
  velocity is provided as output signal.

    RobotSimu now derives from Device.