This reverts commit 46085b6b.

Nicolas Mansard authored Jan 21, 2011 and Nicolas Mansard committed Jan 21, 2011

Conflicts:

	unitTesting/python/dynamic_walk.py
	unitTesting/python/feet_follower.py

    - by calling signals through Entity instance members instead of by
      signal('name'),
    - by replacing dynamicRobot member by dynamic,
    - by replacing simu flag by simulation,
    - by replacing robotSimu member by simu
    - by defining members for each operational point:
        AbstractHumanoidRobot.features['right-wrist'] can be accessed by
	AbstractHumanoidRobot.rightWrist for instance.

Previous algorithm was not taking properly into account the
dependencies between data in the dynamic graph such as pointer
signals. Disable it as it is trigger segfaults when exiting the
Python interpreter.

       * src/dynamic_graph/sot/dynamics/__init__.py.

     * src/dynamic-command.h.

    * src/angle-estimator.cpp: previous implementation did not take into account
      contactWorldPositionSIN and returned position of the waist in contact
      joint frame.
      New implementation returns position of the waist in the global frame.

    * src/angle-estimator.cpp: sensorWorldRotationSIN is of type MatrixRotation.

    * src/dynamic_graph/sot/dynamics/parser.py.

    * src/dynamic_graph/sot/dynamics/parser.py.

       * src/dynamic_graph/sot/dynamics/parser.py.

    * scripts/python/simusmall.py.

    * src/dynamic.cpp.

    * include/sot-dynamic/dynamic.h,
    * src/dynamic-command.h,
    * src/dynamic.cpp.

       * doc/additionalDoc/package.hh.