move3d » move4d

implement robot stability constraints, starting with Pepper.

The generic case is the computation of center of mass and support polygon.
For Pepper, a quicker algorithm can be used as pre-check, by looking at the values of the knee and hip joints (Pepper can fall by simply bending forward or backward).

• the constraints should be implemented in the p3d constraint system OR the p3d constraint system should be ported into move4d