Added weight retrieval function

[bemilio]

The TrajectoryGenerator is missing a method to get the weight in left and right feet that are instead present in the element . I added this functionality, copying it from the element

[S-Dafarra]

There are a lot of small changes which are not "new". Can you try to remove all the small modifications and keep only those that you actually want to merge? Otherwise reviewing this PR is complicated.

As an example, you modified

iDynTree::Vector2 m_referencePointDistance; /**< Vector between the center of the unicycle and the point that has to be reach the goal. */

into

  iDynTree::Vector2 m_referencePointDistance; /**< Vector between the center of
                                                 the unicycle and the point that
                                                 has to be reach the goal. */

The problem is that this screws up the git diff.

[bemilio]

There are a lot of small changes which are not "new". Can you try to remove all the small modifications and keep only those that you actually want to merge? Otherwise reviewing this PR is complicated.

As an example, you modified

iDynTree::Vector2 m_referencePointDistance; /**< Vector between the center of the unicycle and the point that has to be reach the goal. */

into

  iDynTree::Vector2 m_referencePointDistance; /**< Vector between the center of
                                                 the unicycle and the point that
                                                 has to be reach the goal. */

The problem is that this screws up the git diff.

Addressed

[S-Dafarra]

Much better 😁

[S-Dafarra]

@GiulioRomualdi can we merge this?

[GiulioRomualdi]

@bemilio before merging can you update the CHANGELOG.md file adding a line that summarizes the change that you added

[bemilio]

@bemilio before merging can you update the CHANGELOG.md file adding a line that summarizes the change that you added

Done

[GiulioRomualdi]

Merging!