* src/angle-estimator.cpp: previous implementation did not take into account
      contactWorldPositionSIN and returned position of the waist in contact
      joint frame.
      New implementation returns position of the waist in the global frame.

    * src/angle-estimator.cpp: sensorWorldRotationSIN is of type MatrixRotation.

    * src/dynamic_graph/sot/dynamics/parser.py.

    * src/dynamic_graph/sot/dynamics/parser.py.

       * src/dynamic_graph/sot/dynamics/parser.py.

    * scripts/python/simusmall.py.

    * src/dynamic.cpp.

    * include/sot-dynamic/dynamic.h,
    * src/dynamic-command.h,
    * src/dynamic.cpp.

       * doc/additionalDoc/package.hh.

    * doc/sphinx/index.rst.in,
    * src/dynamic.cpp.

    * src/dynamic_graph/sot/dynamics/parser.py.

    * include/sot-dynamic/dynamic.h,
    * src/dynamic-command.h,
    * src/dynamic.cpp,
    * src/dynamic_graph/sot/dynamics/parser.py.

    * src/CMakeLists.txt,
    * src/dynamic_graph/sot/dynamics/__init__.py,
    * src/dynamic_graph/sot/dynamics/parser.py: new.

    * src/dynamic.cpp.

	  * CMakeLists.txt,
	  * src/dynamic_graph/sot/dynamics/__init__.py,
	  * doc/CMakeLists.txt: new,
	  * doc/sphinx/conf.py.in: new,
	  * doc/sphinx/index.rst.in: new.

	 * include/sot-dynamic/dynamic.h,
	 * src/dynamic-command.h,
	 * src/dynamic.cpp: remove trailing white spaces.

    * include/sot-dynamic/dynamic.h,
    * src/dynamic-command.h,
    * src/dynamic.cpp.

    * src/dynamic-command.h.

	 * src/dynamic-command.h,
	 * src/dynamic.cpp: fix indentation.

    * scripts/python/simusmall.py: new.

       * src/dynamic-command.h.

     * include/sot-dynamic/waist-attitude-from-sensor.h,
     * src/waist-attitude-from-sensor.cpp.

     * include/sot-dynamic/angle-estimator.h,
     * src/angle-estimator.cpp,
     * src/angle-estimator-command.h: new.

     * include/sot-dynamic/angle-estimator.h,
     * src/angle-estimator.cpp: rename member fromSensor -> fromSensor_.

    * include/sot-dynamic/dynamic.h,
    * src/dynamic-command.h,
    * src/dynamic.cpp: commands SetFiles, Parse, CreateOpPoint.
    * src/CMakeLists.txt,
    * src/dynamic_graph/sot/dynamics/__init__.py: new, Implement and install
      python submodule.

     * include/sot-dynamic/dynamic.h,
     * src/dynamic.cpp:
       - Dynamic::createEndeffJacobianSignal,
       - Dynamic::createJacobianSignal,
       - Dynamic::createPositionSignal,
       - Dynamic::createVelocitySignal,
       - Dynamic::createAccelerationSignal
       now take a pointer to CjrlJoint instead of a rank in a joint vector.
       Warning: Dynamic::commandLine is broken.

	    * cmake.