One Level Weighted

case ResolutionStrategy::OneLevelWeighted:
{
    updateTasks(current_time,dt);
    updateConstraints(current_time,dt);
    auto problem = getProblemAtLevel(0);
    problem->build();
    solution_found_ = problem->solve();

    if(this->update_cb_)
        this->update_cb_(current_time,dt);

    static bool print_warning = true;
    if(solution_found_ && isProblemDry(problem) && print_warning)
    {
        print_warning = false;
        LOG_WARNING << "\n\n"
            <<" Solution found but the problem is dry !\n"
            << "It means that an optimal solution is found but the problem \n"
            << "only has one task computing anything, ans it's the"
            << "GlobalRegularisation task (This will only be printed once)\n\n"
            << "/!\\ Resulting torques will cause the robot to fall /!\\";
    }

    return solution_found_;
}