Class humoto::Logger: Consider using a nonblocking queue, e.g., <boost/lockfree/queue.hpp>.
Member humoto::OptimizationProblem::pushTask (TaskSharedPointer task_pointer, const std::size_t level_index): It might be a good idea to check for collisions of task ids.
Member humoto::pepper_ik::Model< t_features >::correct (const RobotCommand &command, const double time_interval): Implement correction of the base position for the models where the root does not coincide with the base.
Member humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getJointPositionBounds (EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) &min_bounds, EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) &max_bounds): RBDL must load this from an URDF file!
Member humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getJointVelocityBounds (EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) &joint_vel_bounds): RBDL must load this from an URDF file!
Member humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getMaxWheelVelocities (etools::Vector3 &max_velocities): RBDL must load this from an URDF file!
Member humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getRootMotionToWheelsTransform (): This code is based on the URDF file – may be there is a way to avoid hardcoding it.
Class humoto::walking::PointMassModel6z: It can be faster if A,B are computed directly as derived in documentation.
Class humoto::wpg04::Model: AS. Currently the state of the swing foot is not updated during the swing phase, i.e. it is the same as it was in the end of the preceding TDS. It may be more reasonable to undefine this state instead.
File model_description.h: This code is overcomplicated, find a better approach.