- first implementation of inequality constraints for friction cones and ZMP (to be tested)
- move classes representing contact constraints from file wbiMinJerkTasks to new file wbiConstraints
- FIX BUG in estimation of base velocity (a minus was missing)
- Add reference positions to monitor port
- add estimated joint and base velocities to monitor port
- better initialization of task derivative gains
- temporarely set angular momentum to zero
Merge remote-tracking branch 'origin/superbuild' into superbuild