Added Ach and fixed indexing
Merged with the latest
Fixed trajectory copying
merged in working walking, still need sanity checks
Added validation function for com and joint trajectories
added function comments
grab footprint and swing code from https://github.com/golems/hubo-zmp
Merge branch 'master' of git://github.com/golems/hubomz
add swing-test program and add corresponding executable
move Eric's gait code into hubomz
build fixes; move ach to one place; command line flag for step x dist; step x distis zeroo by default
resovled conflicts
Fix build for Mac computers.
add a gait-test and a matlab file for plotting the gait test
Merge remote-tracking branch 'origin/master'
Fix build so it works on Mac.
Compute gains for single and double support
Add swingEllipse2(), which does better than swingEllipse(), put file saving stuff in swing-test.cpp into pvaSave(), add pvaSave2(), which modifies pvaSave() a little bit
Merge branch 'master' of https://github.com/golems/hubomz
Tweak step-timer to initialize default step times