Topic/hrg #52
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Topic/hrg #52
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…t, used a temporary s for testing, made virtual void computeTorque, used shared_ptr for mbcs_calc_
…ntTerm as shared_ptr
…ermContactPDConstr [WIP]
…to topic/HRG_FD
… added debugging message
…pic/HRG and Solve conflicts
Added an include for Rafael's code
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Inclusion of the effects of the torque control term into the constraints
Changes on the QPSolver to manage two robot structures for the newest version of the torque control
Additional tasks like Wrench Task and Admittance Task