Minor changes in kinodynamics

Author: earlaud

examples/talos_kinodynamics.py

@@ -162,7 +162,6 @@
 kino_ID = KinodynamicsID(model_handler, dt_simu, kino_ID_settings)
 
 """ Initialize simulation"""
-N_simu = 10 # Number of substep the simulation does between two MPC computation
 device = BulletRobot(
     model_handler.getModel().names,
     erd.getModelPath(URDF_SUBPATH),

include/simple-mpc/inverse-dynamics/kinodynamics.hpp

@@ -80,7 +80,7 @@ namespace simple_mpc
     const Settings settings_;
     const simple_mpc::RobotModelHandler & model_handler_;
 
-  private:
+  protected:
     // Order still matter here
     simple_mpc::RobotDataHandler data_handler_;
     tsid::robots::RobotWrapper robot_;