updating todo list (ejt)

Modified: Motion/XWalkMC.cc

adaptive gait reorders leg transition order based on direction of movement (ejt)

This is particularly nice when reversing direction, as gait itself reverses! :)

Modified: Motion/{XWalkMC.cc, XWalkMC.h}

dump template comments at top of file (ejt)

Modified: Motion/XWalkMC.h

now tracking foot position to ensure smooth transitions (ejt)

still may have problems with leg collision or range limitation...

Modified: Motion/{XWalkMC.cc, XWalkMC.h}

IKThreeLink is a go! (ejt)

We'll worry about automatically adapting to other IK solvers later

Modified: Motion/XWalkMC.cc

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