Fixed jacobians w.r.t world
Fix COM jacobian
Updated controller for Rovereto
Legacy support for Matlab 2011a RoveretoControl
Added function for skew-symmetric matrices
Added proper testing on COM Jacobian and DJdq
Gain tuning for Rovereto 2014
Merge branch 'rovereto' of https://github.com/robotology/codyco into rovereto
Re-enable proper testing for centroidal momentum
Added a Joint Limits block in the wholeBodyModel set. Plus, the yarp read block has been updated to properly generate random ports to which it temporarily connect for the readings and the block under the name DUMMY Joint Torques in the wholeBodyStates set streams robot jont torques as read from Gazebo.
Merge branch 'rovereto' of https://github.com/robotology/codyco into rovereto
committing uncommitted files on red iCub
Added support for setting control reference at once on the whole part. In case two different control mode are set in the same part, the control reference is set joint by joint
Merge branch 'rovereto' of https://github.com/robotology/codyco into rovereto
Fix bug in reading of free motion excitation parameters from configuration file
Reverted iCub acutators code
Added CoDyCo library
Modified wholeBodyDynamics blocks
commits for proper merge
Merge remote-tracking branch 'origin/rovereto' into simulink/paramInvDyn_forReal