best I got so far

1 quadratic with mistmatch of derivatives,
2 linear
3 good one

still have to modify the interpolation

Factorized plots

Multiprocess mpc

See merge request !29

# Conflicts:
#   python/quadruped_reactive_walking/Controller.py
#   python/quadruped_reactive_walking/tools/LoggerControl.py

add plot of Riccati gains

Open loop
EndEff reach point
Only impedance

Closed loop
EndEff reach point
Only impedance

Closed loop
EndEff reach point
Impedance + Feedforward control

Closed loop
EndEff trajectory follow
Impedance + Feedforward control

Closed loop
EndEff tracking Circular motion cost
Impedance + Feedforward control

Closed loop
EndEff tracking Circular motion cost
Impedance + Feedforward control

Open loop
EndEff tracking cost
Only Impedance

Closed loop
EndEff tracking cost
Only impedance

Closed loop
EndEff tracking cost
Impedance + Feedforward control

fixed bug in initial guess saving

added plot on  predicted foot position