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
Merge branch 'master' of github.com:golems/hubomz
fy changed to fz
Merge branch 'master' of https://github.com/golems/hubomz
Added Matlab script to sanity check force calculation on ankle.
Merge branch 'master' of https://github.com/golems/hubomz
computing and visualizing forces and torques at ankles
not doing fz anymore now that we have forces
Remove whitespace
Add gtest and first test. Fix bug detected by it
Document how to run tests
compute the ZMP relative to ankles, not floor
half done with integration. committed so eric can work on it.
merge master into integration
Merge branch 'integration' of github.com:golems/hubomz into integration