add new files
include the soth
QP with 2 tasks OK
control of waist with 6 legs on the ground OK
set minimization to q
include orientation in the control
include the controller for released contact
continue implementation
pattern works sometimes
include the tasks to be inside the limit
ca a l'air pas mal;) still need to implement next contact point
add check freeflyer
include cGAL and computation of the COM
implement the next step
redefine the tasks
add the needed libraries
use the SimplePatternGenerator only if one can find soth
update cmake
merge with the patterngenerator for RHEX