v1.1.0

Major

• Preview control takes contact switches into account
• Updated target COM velocities to non-zero forward vectors (were: zero)
• CWCs now computed by cdd (unlike with SEPs, there is no stability issue here, and it is faster than PPL)
• New Simulation class emulating the control-loop clock and measuring run times for each sub-function

Technical

• Polar reduction is now guaranteed to output 2D vertices in counterclockwise order
• Now using the Q0 option in Qhull to avoid this painful bug
• Proper computation of the distance-to-SEP-edge in the DS-to-SS guard condition
• Replaced all lazy computations (for CWCs and SEPs) by proactive pre-computation around contact switches
• Added margins behind/after start and end COM positions in trajectory tubes

Minor

• Updated GUI: draw SS and DS SEPs and cones simultaneously, with cones plotted near the world origin
• All drawings are implemented as "extra" (not counted in control loop) simulation processes

v1.0.0

First release of the software accompanying the pre-print https://hal.archives-ouvertes.fr/hal-01349880