This solves #46
It adds an option to save the configuration at time t with ./test_controller -s t
The new Talos configuration puts the com in the middle of the support polygon
If a com tasks exists the initial com reference will be the com of the initial configuration
If com, lf, rf tasks exists the initial com reference will be the middle of the support polygon
This solves #46 It adds an option to save the configuration at time t with
./test_controller -s tThe new Talos configuration puts the com in the middle of the support polygon If a com tasks exists the initial com reference will be the com of the initial configuration If com, lf, rf tasks exists the initial com reference will be the middle of the support polygon