Topic/hrg#57
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… some debugging prints
…ivityPIDTerm... changed names of files
…component of the floating base
Topic/hrg Add the filtering on the integral term
Correct the computation of the filtered integral term
…orarily) the filter
…-base, and enabled integral term filter
Fixed asser error related to zero sized matrices when building H and C
…e as it is still hard-coded [WIP]
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Additions like the TorqueFeedbackTerm and the inclusion of the rotor inertia