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Detailed Description

This class has been implemented following : Ramos, O. E., Mansard, N., & Soueres, P. (2014). Whole-body Motion Integrating the Capture Point in the Operational Space Inverse Dynamics Control. In IEEE-RAS International Conference on Humanoid Robots (Humanoids).

This class has been implemented following : Andrea del Prete. Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators. IEEE Robotics and Automation Letters, IEEE 2018, 3 (1), pp.281-288.￿10.1109/LRA.2017.2738321￿. hal-01356989v3 And https://github.com/andreadelprete/pinocchio_inv_dyn/blob/master/python/pinocchio_inv_dyn/acc_bounds_util.py