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unicycle-footstep-planner

This repository contains a library aimed at generating walking trajectories, adopting the model of a unicycle under the hood. Some more details on the theory and the implementation will be coming soon.

Dependencies

Build the library and the application

Linux/macOs

git clone https://github.com/robotology/unicycle-footstep-planner
cd unicycle-footstep-planner
mkdir build && cd build
cmake ..
make
[sudo] make install

Notice: sudo is not necessary if you specify the CMAKE_INSTALL_PREFIX. In this case it is necessary to add in the .bashrc the following lines:

Linux

export UnicyclePlanner_DIR=/path/where/you/installed/
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$UnicyclePlanner_DIR/lib

macOs

export UnicyclePlanner_DIR=/path/where/you/installed/
export DYLD_LIBRARY_PATH=$LD_LIBRARY_PATH:$UnicyclePlanner_DIR/lib

Basic Idea

<img src="https://user-images.githubusercontent.com/18591940/35742336-68cbf374-083a-11e8-8393-c0a5ea268866.gif">

Implementation

<img src="https://user-images.githubusercontent.com/18591940/35742348-71071cb2-083a-11e8-97a7-3577d997df8f.gif">

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