(hrpsys_config, AutoBalancer) : Add debug port for COG
(GaitGenerator, PreviewController) : Push finailize reference zmp until que is full
Merge pull request #396 from snozawa/fix_cog_convergence_in_abc

Fix cog convergence in abc
(AutoBalancer) : Fix servoOff transition of AutoBalancer.
Merge pull request #397 from snozawa/fix_servooff_sync_mode

Fix servoOff transition of AutoBalancer.
(AutoBalancer, GaitGenerator) : Update default values for abc idl parameters
(samplerobot_terrain_walk) : Update parameter setting for terrain walk example and add start up down demo
Merge pull request #398 from snozawa/update_default_value_for_abc_idl_param

Update default value for abc idl param
(GaitGenerator) : Fix double support phase for Rectangle and Stair orbit
Merge pull request #399 from snozawa/fix_double_support_phase_for_rectangle_stair_orbit

Fix double support phase for Rectangle and Stair orbit
(AutoBalancer) : Add backward stride limitation
(SampleRobot.conf.in) : Remove deprecated samplerobot conf setting for abc
Merge pull request #400 from snozawa/add_bwd_stride_limitation

Add bwd stride limitation
(PreviewController) : Fix zmp z to add zmp to preview queue
(ProjectGenerator) : Connect ports of first input object.
Merge pull request #401 from snozawa/fix_abc_zmpz

Fix zmp z to add zmp to preview queue
Merge pull request #402 from snozawa/connect_first_input_object_port

Connect ports of first input object.
(SoftErrorLimiter) : Update beep sound frequency to avoid from making confusing alert sound. This commit is discussed in https://github.com/fkanehiro/hrpsys-base/issues/220
Merge pull request #403 from snozawa/fix_beep_sound_of_el

Update beep sound of SoftErrorLimitter
adds an option parameter pushpolicy to connectPorts()