Minor code factoring.
Correct the header double definition protection
Add instructions to get the first and the last value of the array
add elastic dynamical system
Model base estimator fonctional before cleaning
Contacts positions beeing at the and of input vector
Variable input compiling, before checking results
seems to work maybe an offset on the model 17/07/2014
Before changing method for contacts efforts
Mehdi's way to calcul contacts efforts before debuging
First step debuging: erasing nans
Seems to work
The system don ot converge for a rotation aroun x.
Model works fine on txo feet. Just before optimization
Fc is compute only one time in stateDynamic
AccAngular is compute only one time in stateDynamic
With no alias on matrix products. Need to check if I use it well
Simplification of angularAceelrations equations.
fix warnings