Merge branch 'devel'

Conflicts:
	README.md

.gitignore

+*.pyc
+*~
+build
+.gitignore

.gitmodules

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

.mailmap

+#
+# This list is used by git-shortlog to fix a few botched name translations
+# in the git archive, either because the author's full name was messed up
+# and/or not always written the same way, making contributions from the
+# same person appearing not to be so or badly displayed.
+
+Anthony Mallet <anthony.mallet@laas.fr>
+
+Olivier Stasse <grxuser@jrl005.a01.aist.go.jp>
+Olivier Stasse <olivier.stasse@aist.go.jp>
+Olivier Stasse <stasse@dhcpt1243.a02.aist.go.jp>
+Olivier Stasse <stasse@jrl005.a01.aist.go.jp>
+Olivier Stasse <olivier.stasse@aist.go.jp>
+Olivier Stasse <stasse@stasse-laptop.(none)>
+Olivier Stasse <olivier.stasse@aist.go.jp>
+Olivier Stasse <stasse@dhcpt1059.a02.aist.go.jp>
+Olivier Stasse <stasse@jrl005.a01.aist.go.jp>
+Olivier Stasse <stasse@jrl005.a02.aist.go.jp>
+Olivier Stasse <olivier.stasse@aist.go.jp>
+Olivier Stasse <stasse@jrl006.(none)>
+Olivier Stasse <stasse@stasse-laptop.(none)>
+
+
+Nicolas Mansard <nmansard@devgiri.(none)>
+Nicolas Mansard <nmansard@jorasse.(none)>
+Nicolas Mansard <nmansard@laas.fr>
+
+
+Florent Lamiraux <florent@big-laptop.(none)>
+Florent Lamiraux <florent@dhcpt1253.a02.aist.go.jp>
+Florent Lamiraux <florent@florent-laptop.laas.fr>
+Florent Lamiraux <florent@florent-laptop.(none)>
+Florent Lamiraux <florent@laas.fr>
+Florent Lamiraux <Florent Lamiraux florent@laas.fr>
+Florent Lamiraux <florent@florent-laptop.(none)>
+Florent Lamiraux <Florent Lamiraux florent@laas.fr>
+Florent Lamiraux <florent@localhost.localdomain>
+Florent Lamiraux <florent@poullenc.laas.fr>
+Florent Lamiraux <florent@poullenc.(none)>

.travis.yml

+after_success:
+- coveralls -e _travis/install -e tests
+- git config --global user.name "Travis CI"
+- git config --global user.email "thomas.moulard+travis@gmail.com"
+- git remote set-url origin https://thomas-moulard:${GH_TOKEN}@github.com/stack-of-tasks/sot-dynamic.git
+- git fetch origin gh-pages:gh-pages
+- cd _travis/build/doc && ../../../cmake/github/update-doxygen-doc.sh
+branches:
+  only:
+  - master
+  - topic/sot-pinocchio
+compiler:
+- clang
+- gcc
+matrix:
+  allow_failures:
+  - compiler: clang
+
+before_install:
+- git submodule update --init --recursive
+#Add robotpkg and pinocchio dependencies
+- sudo sh -c "echo \"deb http://robotpkg.openrobots.org/packages/debian/pub precise robotpkg\" >> /etc/apt/sources.list "
+- curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+- sudo apt-get update -qq
+- sudo apt-get install -qq doxygen doxygen-latex libboost-all-dev libeigen3-dev liblapack-dev libblas-dev gfortran python-dev 
+  python-sphinx python-numpy libtinyxml-dev robotpkg-console-bridge robotpkg-urdfdom-headers robotpkg-urdfdom robotpkg-eigenpy
+- sudo pip install cpp-coveralls
+language: cpp
+notifications:
+  email:
+  - hpp-source@laas.fr
+script: ./.travis/build
+env:
+  global:
+    secure: dXnBor2MQ2eUyh6WqB6FKWWcE3MxzY8fin7xTyA+yJwpUsEgkvXp/4IEzx4CDSIjrLSR4P/MKQby9jnd+vTDOMH1NwXkdQH8c7mn/L3ZshALMKVNZIW6IDNx7jneAMud4/l9KHvauQVdby4cA7gFxbVQi+aPbhnioN4UO0AeLeA=

.travis/build

+#!/bin/sh
+set -ev
+
+# Directories.
+root_dir=`pwd`
+build_dir="$root_dir/_travis/build"
+install_dir="$root_dir/_travis/install"
+
+# Shortcuts.
+git_clone="git clone --quiet --recursive"
+
+# Create layout.
+rm -rf "$build_dir" "$install_dir"
+mkdir -p "$build_dir"
+mkdir -p "$install_dir"
+
+
+# Setup environment variables.
+export LD_LIBRARY_PATH="$install_dir/lib:/opt/openrobots/lib:$LD_LIBRARY_PATH"
+export LD_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LD_LIBRARY_PATH"
+export PKG_CONFIG_PATH="$install_dir/lib/pkgconfig:/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH"
+export PKG_CONFIG_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`/pkgconfig:$PKG_CONFIG_PATH"
+
+install_dependency()
+{
+    echo "--> Compiling $1"
+    mkdir -p "$build_dir/$1"
+    cd "$build_dir"
+    $git_clone "git://github.com/$1" "$1"
+    cd "$build_dir/$1"
+    cmake . -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
+    make install
+}
+
+install_pinocchio_devel()
+{
+    echo "--> Compiling stack-of-tasks/pinocchio"
+    mkdir -p "$build_dir/stack-of-tasks/pinocchio"
+    cd "$build_dir"
+    $git_clone -b devel git://github.com/stack-of-tasks/pinocchio stack-of-tasks/pinocchio
+    cd "$build_dir/stack-of-tasks/pinocchio"
+    cmake . -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
+    make install
+}
+
+install_pinocchio_devel
+install_dependency proyan/dynamic-graph
+install_dependency proyan/dynamic-graph-python
+install_dependency proyan/sot-core
+install_dependency proyan/sot-tools
+
+# Compile and run tests
+cd "$build_dir"
+cmake "$root_dir" -DCMAKE_INSTALL_PREFIX="$install_dir"		\
+		  -DCMAKE_CXX_FLAGS="--coverage"		\
+		  -DCMAKE_EXE_LINKER_FLAGS="--coverage"		\
+		  -DCMAKE_MODULE_LINKER_FLAGS="--coverage"	\
+		  -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
+make
+make test
+make install

AUTHORS

+This package was written by and with the assistance of:
+
+* Francois Bleibel	fbleibel@gmail.com
+* François Keith	francois.keith@aist.go.jp 
+* Nicolas Mansard       nicolas.mansard@laas.fr	
+* Olivier Stasse	olivier.stasse@aist.go.jp
+* Thomas Moulard        thomas.moulard@gmail.com

CMakeLists.txt

+# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
+#
+# This file is part of sot-dynamic.
+# sot-dynamic is free software: you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public License
+# as published by the Free Software Foundation, either version 3 of
+# the License, or (at your option) any later version.
+#
+# sot-dynamic is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# General Lesser Public License for more details.  You should have
+# received a copy of the GNU Lesser General Public License along with
+# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+INCLUDE(cmake/base.cmake)
+INCLUDE(cmake/boost.cmake)
+INCLUDE(cmake/eigen.cmake)
+INCLUDE(cmake/lapack.cmake)
+INCLUDE(cmake/cpack.cmake)
+
+SET(PROJECT_NAME sot-dynamic)
+
+SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
+SET(PROJECT_URL "https://github.com/proyan/sot-dynamic/tree/topic/sot-pinocchio")
+
+SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
+
+# Disable -Werror on Unix for now.
+SET(CXX_DISABLE_WERROR True)
+
+SET(PKG_CONFIG_ADDITIONAL_VARIABLES
+  ${PKG_CONFIG_ADDITIONAL_VARIABLES}
+  plugindirname
+  plugindir
+  )
+
+SETUP_PROJECT()
+# Search for dependencies.
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.0")
+ADD_REQUIRED_DEPENDENCY("eigenpy")
+ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
+ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
+ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
+
+# List plug-ins that will be compiled.
+SET(plugins
+  zmpreffromcom
+  force-compensation
+  integrator-force-exact
+  mass-apparent
+  integrator-force-rk4
+  integrator-force
+  angle-estimator
+  waist-attitude-from-sensor
+  zmp-from-forces
+  )
+
+SET(LIBRARY_NAME ${PROJECT_NAME})
+LIST(APPEND plugins dynamic)
+
+
+LIST(APPEND LOGGING_WATCHED_TARGETS ${plugins})
+
+# Add dependency toward sot-dynamic library in pkg-config file.
+PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
+
+# Search for dependencies.
+# Boost
+SET(BOOST_COMPONENTS filesystem system unit_test_framework python)
+SEARCH_FOR_BOOST()
+SEARCH_FOR_EIGEN()
+
+# Add subdirectories.
+ADD_SUBDIRECTORY(include)
+ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(doc)
+ADD_SUBDIRECTORY(python)
+#ADD_SUBDIRECTORY(unitTesting)
+
+SETUP_PROJECT_FINALIZE()
+SETUP_PROJECT_CPACK()

COPYING.LESSER

+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
+       system, and (b) will operate properly with a modified version
+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

ChangeLog

+CHANGELOG
+----------------------
+
+[v2.9.1]
+ * Correct PROJECT_URL from jrl-umi3218 to stack-of-tasks
+ * Check that joint exists when creating an operational point
+ * Merge pull request #4 from bcoudrin/master
+ * Change Dynamic::CLASS_NAME in the shared lib
+ * Change lib name to sot-dynamic and dynamic plugin name to dynamic
+ * Dissociates dynamic lib and dynamic plugin
+ * Normalize the use of plugin path.
+ * Remove hrp2 reference.
+ * Remove the references to hrp2 in the documentation.
+ * Clean romeo script.
+
+[v2.9.0]
+ * Correct the path for the unit test.
+ * Synchronize
+ * Correct romeo sample script.
+ * Synchronize
+ * Directly use the plugin directory in the pkg-config file.
+ * [travis] Add missing python-numpy dependency
+ * Update README.md
+ * Update README.md
+ * [travis] Fix dependencies
+ * Update README.md
+ * [travis] Add missing dependency
+ * Synchronize
+ * Remove unwanted files.
+ * [travis] Add Travis and coveralls.io support
+
+[v2.8.0]
+ * Update the kine_romeo sample.
+ * Add ZmpFromForces entity
+ * Move robot initialization parts to sot-application
+ * Add a simple kinematic test for the humanoid robot Romeo.
+ * Update lib installation path (multiarch portability).
+ * Synchronize
+ * Add signals for the maximal/minimal joint velocity/torques.
+ * Add parser class to create useful objects for humanoid robots.
+
+[v2.7.2]
+ * Remove headers from sot-dynamic.
+
+[v2.7.1]
+ * Remove parser.py install.
+ * Remove warnings
+ * Clean up references to hrp-2 and nao.
+
+[v2.7.0]
+ * Add the dependency in sot-tools.
+ * Do not import useless symbols
+ * Add comTask into dictionary tasks of class HumanoidRobot for compatibility
+ * Import SE3 from sot.tools.se3 instead of sot.se3.
+ * Synchronize.
+ * Do not trace all signals by default
+ * Remove obsolete hrp2.py file
+ * Add some signals as attributes.
+ * Create a balance task in AbstractHumanoidRobot class.
+ * Add method help and update documentation.
+ * Add position of foot force sensors in Hrp2 python class.
+ * Do not initialize tracer, let user do it.
+ * Synchronize.
+ * Compatibility with boost>1.46.1
+ * The dependency in hrp2 is now optional.
+ * Use Task instead of TaskPD.
+ * Fix typo in documentation of command.
+ * Added the access to xml and vrml file names from the getProperty function.
+ * In class Solver, implement method remove and modify method push.
+ * Wrong compiler option set into sot-dynamic.pc file corrected.
+ * Synchronize
+ * Synchronize.
+ * Correct the link with boost on Ubuntu 11.04.
+ * Do not import useless symbols.
+ * Create frames for right and left hands.
+ * Add a command to get hand parameters.
+ * Fix camera frame orientation.
+ * Do not create entity at module importation.
+ * Synchronize cmake submodule.
+ * Register signal one by one.
+ * Allow access by joint name in entity Dynamic.
+ * Synchronize.
+ * Revert "Revert "Correct the Python_module handling""
+
+[v2.6.0]
+ * Do not generate sphinx documentation
+ * Fix dummy test.
+ * Update NEWS.
+ * Synchronize cmake submodule.
+ * Update to recent modification in Entity class.
+ * Add the toes to the list of joints accessible with their names.
+ * Clean HumanoidRobot implementation.
+ * Add tracer support to HumanoidRobot.
+ * Enhance camera position.
+ * Replace frame by frames in humanoid_robot.py.
+ * Add support for additional frames storing sensors position, use it to compute HRP-2 camera positions.
+ * Fix ZMP computation subgraph.
+ * Add support for velocity/acceleration/zmp computation in jrl-dynamics.
+ * Switch to TaskPD.
+ * Fix problem related to the release level of some mainstream repositories.
+ * Revert "Correct the Python_module handling"
+
+[v2.5]
+ * Update dependency version numbers.
+ * Remove deprecated tags in xml parser.
+ * Correct link for apple
+ * Correct the handling of python modules
+ * Use the helper to implement the entity.
+ * Fix some getClassName methods.
+ * Account for the Entity::getClassName becoming pure virtual.
+ * Reimplement getClassName method in Dynamic and DynamicHrp2.
+ * Enable JointLimitator.
+ * Create JointLimitator but do not filter control vector (JointLimitator produces wrong output).
+ * Correct the link with boost libraries
+ * Fix package name.
+ * Correct the link with boost for Mac systems
+ * Implement reset in humanoid_robot.py.
+ * Improve support for hrp2-10.
+ * Remove a command already defined in python.cmake
+ * Correct the Python_module handling
+ * Fix examples.
+ * Fix minor error in tools.py
+ * Change name of hrp2.dynamic: '_dynamics' -> 'dynamic'
+ * Add waist as an operational point in Hrp2 class.
+ * Replace . by _ in signal and entity names.
+ * Set height of freeflyer so that feet are on the ground.
+ * Replace . by _ in signal and entity names.
+ * Remove useless method parameters.
+ * Add gaze in the list of operational points.
+ * Compute Jacobian of operational points and of center of mass at initialization.
+ * Add support for debug output (sotDEBUG).
+ * Fix typo.
+ * Add a proxy method push in Solver -> Solver.sot.push.
+ * Compute initial value of COM and set desired value accordingly.
+ * Install tools.py.
+ * Install tools.py and move Solver class into a separate file.
+ * Include sot-core headers from include/sot/core instead of include/sot-core.
+ * Reintroduce RobotSimu.
+ * Move classes into dynamicgraph::sot namespace.
+ * Put robot in halsitting also in non-simulation mode.
+ * Upgrade tools.py to latest modifications in hrp2.py.
+ * Generate sphinx documentation for hrp2.py.
+ * If device is provided, do not create it in Hrp2 class.
+ * Raise Error instead of string.
+ * Fix syntax error.
+ * Split class Hrp2 into two classes Hrp2Laas and Hrp2Jrl.
+ * Remove restart method.
+ * Remove simulation member and replace simu by device in AbstractRobot class.
+ * Remove warnings.
+ * Revert "Revert "Added a signal for the dyn drift.""
+ * Added the build repertory in the ignore settings.
+ * Added a test on the inertia matrix values.
+ * Revert "Added a signal for the dyn drift."
+ * Revert "Set version number as 1.99."
+ * IVIGIT.
+ * Added a signal for the dyn drift.
+ * Set version number as 1.99.
+ * Added signals to estimate the ff velocity.
+ * Remove trailing white spaces, and make a few relook.
+ * Added three commands to create jacobian and position signals alone.
+ * Corrected a typo.
+ * Update to new API.
+ * Make python scripts more compact,
+ * Synchronize cmake submodule.
+ * Add commands to Dynamic entity to get foot parameters.
+ * Check final configurations in examples.
+ * Add .gitignore file.
+ * Add new tests.
+ * Factorize initialization in tools, make display optional.
+ * Remove unneeded import statements in Python example.
+ * Check properly that input files exist before parsing a model.
+ * Teach Python scripts to locate robot model automatically.
+ * Disable disallocation in Python for now.
+ * Remove forwardKinematics from Python files.
+ * Initialize desired positions of operational points tasks to initial position.
+ * Add robot related Python files.
+ * Synchronize.
+ * Remove unused parameter names to fix warning.
+ * Remove spurious semi-colon.
+ * Import AngleEstimator in module dynamic_graph.sot.dynamic python module.
+ * Typo in exception message.
+ * Fix computation of WaistWorldPositionSOUT.
+ * Fix typo in signal name.
+ * Set right foot parameters.
+ * Use se3.py for homogeneous matrix computations
+ * Notify license.
+ * Fix a few bugs in python script.
+ * Add entity name in exception messages.
+ * Add a command to write robot in a file (and one to get robot dimension).
+ * Update doxygen main page and reference sphinx-documentation.
+ * Fix generation of sphinx documentation.
+ * Set right hand parameters by symmetry in global reference frame.
+ * Add command to initialize the robot
+ * Add python file to parse kxml files.
+ * Fix docstring of command setFootParameters
+ * Tentative documentation of python bindings.
+ * Cosmetic change
+ * Add commands to build a robot
+ * Add gaze joint in createOpPoint command.
+ * Cosmetic changes
+ * Add python script
+ * Remove debug output.
+ * bind classes WaistPoseFromSensorAndContact and WaistAttitudeFromSensor.
+ * Bind AngleEstimator class.
+ * Make member fromSensor private and add setter and getter.
+ * Implement 3 commands and bind them in python.
+ * Modification of API in creation of operational point and jacobian signals.
+ * Synchronize cmake submodule.
+
+[v1.1.1]
+ * Force boost lookup.
+ * Add BOOST_LIB to LD_LIBRARY_PATH
+ * Fix cmake modules
+ * Change cmake url.
+ * Put back dynamic-hrp2_10_old in the list of targets.
+ * Remove dependency to fake packages.
+ * Correct version dependency to hrp2-10.
+ * Synchronize
+ * Add release version for package.
+ * Synchronize
+ * Synchronize
+ * Add package building steps for Ubuntu 8.04
+ * Correct tests to accept the sample humanoid robot specific case.
+ * Synchronize
+ * Synchronize
+ * Synchronize.
+ * Fix undefined references.
+ * Fix undefined references.
+ * Synchronize
+ * Resize target matrix before passing it to getJacobianCenterOfMass
+ * Use PKG_CONFIG_USE_DEPENDENCY for jrl-mal, hrp2-dynamics and sot-core
+ * * Move dynamicsJRLJapan to jrl-dynamics and hrp2Dynamics to hrp2-dynamics when needed * Use PKG_CONFIG_USE_DEPENDENCY for jrl-dynamics and hrp2-dynamics * Fix other minor dependency issues
+ * Update to new API.
+ * Created basic documentation/introduction to sot-dynamic
+ * Update to new APIs.
+ * Set PROJECT_URL in CMakeListst.txt.
+ * Fix TAGFILES in Doxyfile.extra.in.
+ * Reindent.
+ * Synchronize.
+ * Correct the link flags for not unix systems
+ * Switch to submodule.
+ * Fix dependency version number.
+ * Add dependency toward robot pakages.