Merge devel into master #48
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To make sure that the unicycle position and angle are always together.
Feet yaw delta and slow when backward improvements.
- The angle used to check the rotation limit was never updated and the constraints were never satisfied. - The logic of the terminal step was faulty - When the constraints were not satisfied, the stance and swing foot were inverted even if no new step was added. Added some more comments to understand better the logic.
…t was not working anyway.
Avoid the robot to step in place in case the minAngle is less than the feetYawDelta.
Add double free ellipsoid
Bumped version and removed deprecated methods/classes.
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