Topic/parameter server reduced model

Generate an exception if the bodies are not found.

was not complete.

+ Fix the logic of contact phase
+ Clean up the code

This is needed as the side of the support foot can take negative value.
Fix also warnings.

As this stage the main test is not working.

Not anymore from file.

NoelieRamuzat authored Jul 09, 2020 and Olivier Stasse committed Jul 17, 2020

In Kajita's algorithm the dsp stepType can be = 11

NoelieRamuzat authored Jun 10, 2020 and Olivier Stasse committed Jun 12, 2020

Add comment on a if that might be useless

NoelieRamuzat authored Jun 09, 2020 and Olivier Stasse committed Jun 12, 2020

 Method to get the information of contact phase (double) leftFoot=1, rightFoot=-1, doubleSupport=0

ref https://github.com/stack-of-tasks/jrl-walkgen/blob/master/tests/CMakeLists.txt#L16

* [pg] Changed signal waistattitudematrix in waistattitudematrixabsolute
Makes the reference frame more explicit for the signal.
Co-authored-by: Louise Scherrer <lscherrer@akasan.laas.fr>

Fix details in last release