Two COM controllers have been added and tested. Particularly FourthCOMController is the most complete version of the COM controller including contact constraints, velocity saturation, a mask to globally set the robot name and simulation rate. The very same controller was tested on both the simulator and real platform at 10ms. Some issues still need to be addressed regarding the feedforward term. Note; Gains for this controller vary from those used with the simulator and are actually much smaller than those in SecondCOMController, which might be due not only to the use of the real robot but also to the Damped pseudoinverse which was being computed wrongly in the previous version of the model.
Merge branch 'master' of https://github.com/robotology/codyco