Todo List
Member sobec::ControlForm

: in order to switch between locomotions safely, incorporate a terminal constraint

: bind these enumerations

Member sobec::Flex::correctDeflections (const eVector2 &leftFlexingTorque, const eVector2 &rightFlexingTorque, eVectorX &q, eVectorX &dq)
: Do we include an option to choose between filtered / not filtered?
Class sobec::FlexSettings
BIND AND TEST IT.
Member sobec::HorizonManager::currentTorques (const Eigen::VectorXd &measured_x)
: make a boolean -> IT is necessary to have solved at least one time to use this method.
Member sobec::HorizonManager::setBalancingTorque (const unsigned long time, const std::string &nameCostActuation, const std::string &nameCostState)
: All functions using string names, should receive such names as input.
Member sobec::HorizonManager::setPoseReferenceRF (const unsigned long time, const std::string &nameCostRF, const pinocchio::SE3 &ref_placement)
:fuse these two functions and any other redundant funtion.
Member sobec::WBC::generateStandingCycle (ModelMaker &mm)
: bind it
Member sobec::WBC::initialize (const WBCSettings &settings, const RobotDesigner &design, const HorizonManager &horizon, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const std::string &actuationCostName)
: Remove this from the initialization and provide it as a method.
Member sobec::WBCSettings::horizonSteps
: add the cost names as setting parameters.