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Modify the seqplay to accept zmp and com/ankle derivatives

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Merged Guilhem Saurel requested to merge mehdi-benallegue:master into master Sep 03, 2014
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Created by: mehdi-benallegue

The reference feet forces, zmp and derivatives are now optional The derivatives are automatically computed using finite differences if the derivatives files are not available.

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Source branch: mehdi-benallegue:master