This library is intended to implement walking pattern generator algorithms for humanoid robots. More...

Collaboration diagram for JRL Walking Pattern Generator Library (WalkGenJRL):

Modules
	Stepping Over
	This group implements the stepping over algorithm as presented by Bjorn Verrelst Verrelst2006 .

	Preview Control
	This group implements the preview control algorithm for the cart-model as presented by Kajita in Kajita2003 .

	Geometry
	This group implements some basic geometrical tools for the Pattern Generator.

	Interface for the PatternGeneratorJRL
	This group reinforces the independance between the internal structure of the Walking Pattern Generator and external algorithms.

Classes
class	PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP
	Object to generate the angle positions every 5 ms from a set of absolute foot positions. More...

Detailed Description

This library is intended to implement walking pattern generator algorithms for humanoid robots.

Modules