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humanoid_walk: halfsteps_pattern_generator | walk_interfaces | walk_msgs | walk_tools

Package Summary

Documented

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.
It also defines how of to store walking trajectories using the YAML format.

humanoid_walk: halfsteps_pattern_generator | walk_interfaces | walk_msgs | walk_tools

Package Summary

Documented

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.
It also defines how of to store walking trajectories using the YAML format.

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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.


2017-10-21 13:30