Avoid to use jacobianDot in some tasks.
Replace double space by tab.
Change HighLevelTask interface.
Replace double space by tab.
Create an version of update method with some pre computed data as parameters.
Forward SolverData to HighLevelTask::update and Task::update.
Forward SolverData to QPSolver.
Avoid to compute the Jacobian Dot in constraint.
Use velocity and normalAcceleration Jacobian Method instead.
Add normalAccB_ member to qp::SolverData.
Use qp::SolverData::normalAccB() in constr and task udpate method.
Update python binding.