create file
create test file
draft n3
draft n4: testing Cprime
draft n5: testing H11
draft n6: testing chda complete for black box testing
draft n7
draft n7
draft n9: final test build ready
draft n10: tests completed. Accuracy issue with simple humanoid
draft n11
draft n12: nb of total joints dof ok
Single jint FD is WaistLink0
FullPivHouseholderQR replaces ColPivHouseholderQR
Print log.diff
Check H in test_chda
draft n14:
remove TEST code
Debug => use reference ddq1
draft 15: debug
test miscellaneous
restored chda
draft n18
draft 19
draft n20: add gravity parameter & improve test_rnea