Write measured zmp file.
Add getters for gik robot and valid motions vector.
Put correct priority to end configuration constraint.
Apply two zmp filters on final trajectory.
Do not remov wholebody constraints, it is done via interface.
Use correct zmp filtering method prototype.
Express minimum foot orientation as a function of y displacement.
Use new waist orientation constraint when animating portions of paths (forgotten).
Use damping factor of 1e-6 instead of 0.2 in constraints to prevent large zmp oscillations.
Declare conversion to OpenHRP method as public.
Add getters for footprint sequence attributes.
Add getter for stepFracOfFootprint.
Load new footprints in result vector when animating whole path.
Add getters for default step parameters.
Keep pointer to motion in attribute when animating whole path.
Set foot flight time to 0.8s.
De-activate dynamics flags when planning sliding path.
Modified both upper and whole body mask vectors
Set initializeRobot function as protected method.
Use mother class method to enable or disable dynamics computations.