PostureTask reset() does not reset refVel and refAccel

[bastien-muraccioli]

When calling ctl.postureTask->reset();, the reference velocity and acceleration are not reset. This means we have to manually do:

ctl.postureTask->refAccel(Eigen::VectorXd::Zero(jointNumber));
ctl.postureTask->refVel(Eigen::VectorXd::Zero(jointNumber));

Is this the intended behavior? If not, it might be useful for reset() to include resetting these references to zero as well to avoid unexpected motion or controller behavior after reset.

[arntanguy]

Thanks for the issue, you are correct. I tested this and it works as expected for Tasks, but something is wrong with TVM. I can't investigate right now, will get back to it whenever I get back to working on TVM related subjects.