Adding to the pattern generator of Herdt (in ZMPVelocityReferencedQP) the dynamic filter also implemented in the ZMPPreviewControlWithMultiBodyZMP.
The goal of this branch is also to use the template library metapod to calculate the filter (metapod is not currently linked to the code at this commit)
First implementation of the dynamic filter, metapod not added yet
try by using the simple_humanoid.hh simple_humanoid.cc config.hh in the folder they are suppose to be created by MetapodFromUrdf.
try with target_link_librairies
adding different cmake_metapod_config.cmake wich define paths to the url files of simple_humanoid or hrp2_14
End of the inclusion of metapod and first test with the filter dynamic.

problems with the buffers and the interpolations.
some changes about the interpolation
create temporary buffer to have a bigger deque to do the PC of Kajita on 16-1 * 100ms
Increasing the size() of the temporary buffer ans try to file them properly. The programme return "info on inconsistent constraint"
Modification of the buffers for the Kajita PC algorithm, orientation problem about the CoM
Few changes on the deque
try with continuous buffer, worst results... but maybe not comming from this calculation of the buffers.
Continuous buffer, the dynamic filter is not set correctly.
Implementation du filtre dynamic, pb avec le PC.
add the Cmake file for the use of metapod
copy of the cmmake_metapod file in the root
cmake changes
Major changing in the ZMPMB computation
few changes
Generate dat file per preview.