Only released in EOL distros:
Package Summary
C++ Interfaces used to generated humanoid robots walking movements. Provides the definition of the following structures:
- footprints (2d, 3d),
- trajectories (2d, 3d),
- 2d points, 3d points, 2d frames, 3d frames as homogeneous matrices,
- pattern generator (2d, 3d): an algorithm which produces feet, ZMP and center of mass trajectories from a stack of time parametrized footprints.
- Author: Thomas Moulard/thomas.moulard@gmail.com, Antonio El Khoury
- License: BSD
- Source: git https://github.com/laas/humanoid_walk.git (branch: master)
Package Summary
C++ Interfaces used to generated humanoid robots walking movements. Provides the definition of the following structures:
- footprints (2d, 3d),
- trajectories (2d, 3d),
- 2d points, 3d points, 2d frames, 3d frames as homogeneous matrices,
- pattern generator (2d, 3d): an algorithm which produces feet, ZMP and center of mass trajectories from a stack of time parametrized footprints.
- Author: Thomas Moulard/thomas.moulard@gmail.com, Antonio El Khoury
- License: BSD
- Source: git https://github.com/laas/humanoid_walk.git (branch: master)
Contents
This package provides a C++ interface only which is independent from ROS. See walk_msgs for the ROS interface.
Optionally, this interface provides a way to serialize/unserialize data using YAML. The format is documented on the YAML page.
Writing your own pattern generator
To write your own pattern generator, inherit from the PatternGenerator class and implements the virtual computeTrajectories method. Examples of pattern generator can be found in this package tests suites (the tests directory) or in halfsteps_pattern_generator.
