Merge pull request #42 from cmastalli/devel

Removed metapod dependency

CMakeLists.txt

@@ -23,7 +23,7 @@ INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/python.cmake)
 
 SET(PROJECT_NAME sot-torque-control)
-SET(PROJECT_DESCRIPTION "Collection of dynamic-graph entities aiming at the implementation of torque control on HRP-2.")
+SET(PROJECT_DESCRIPTION "Collection of dynamic-graph entities aimed at implementing torque control on different robots.")
 SET(PROJECT_URL "https://github.com/stack-of-tasks/sot-torque-control")
 
 SET(CUSTOM_HEADER_DIR "sot/torque-control")

README.md

@@ -10,7 +10,6 @@ This project depends on:
 * dynamic-graph-python >= 3.0.0
 * sot-core >= 3.0.0
 * pinocchio >= 1.2
-* metapod
 * [PinInvDyn](https://github.com/stack-of-tasks/invdyn)
 * [parametric-curves](https://github.com/stack-of-tasks/parametric-curves)
 

include/sot/torque_control/free-flyer-locator.hh

@@ -45,15 +45,6 @@
 #include <initializer_list>
 #include "boost/assign.hpp"
 
-/* Metapod */
-//~ #include <metapod/models/hrp2_14/hrp2_14.hh>
-//~ #include <metapod/algos/rnea.hh>
-//~ #include <metapod/algos/jac.hh>
-//~ #include <metapod/tools/jcalc.hh>
-//~ #include <metapod/tools/bcalc.hh>
-//~ #include <metapod/tools/print.hh>
-//~ #include <metapod/tools/initconf.hh>
-
 /* Pinocchio */
 #include <pinocchio/multibody/model.hpp>
 #include <pinocchio/parsers/urdf.hpp>

src/admittance-controller.cpp

@@ -19,7 +19,6 @@
 #include <dynamic-graph/factory.h>
 
 #include <sot/torque_control/commands-helper.hh>
-#include <sot/torque_control/utils/metapod-helper.hh>
 #include <tsid/utils/stop-watch.hpp>
 
 namespace dynamicgraph

src/position-controller.cpp

@@ -19,7 +19,6 @@
 #include <dynamic-graph/factory.h>
 
 #include <sot/torque_control/commands-helper.hh>
-//#include <sot/torque_control/utils/metapod-helper.hh>
 #include <sot/torque_control/utils/stop-watch.hh>
 
 namespace dynamicgraph