Add handling of the energy task added in TSID (described here PR155) and of the contactForceTask.
This PR is linked to the one in talos-torque-control 13.
Adding the AM task in the inverse-dynamic-balance-controller.
Create a simple formulation with a single posture task (and contact tasks).
Refactor TrajectorySample::pos, vel, acc as in TSID.
Add handling of the energy task added in TSID (described here PR155) and of the contactForceTask. This PR is linked to the one in talos-torque-control 13.
Adding the AM task in the inverse-dynamic-balance-controller. Create a simple formulation with a single posture task (and contact tasks). Refactor TrajectorySample::pos, vel, acc as in TSID.