sot-pattern-generator Documentation

Introduction

This package wraps the walk pattern generator exposed by walkGenJrl (package jrl-walkgen) for use in the stack of tasks. Hence, by using this package, you can create several entities to control the walk pattern of a humanoid robot.

Requirements

This package has the following dependencies:

  • jrl-walkgen
  • jrl-dynamics
  • sot-core
  • hrp2Dynamics [optional]
  • hrp2-10-small [optional]

To download and install these packages, please visit https://github.com/jrl-umi3218.

API overview

As most packages based on the dynamic-graph framework (see https://github.com/jrl-umi3218/dynamic-graph), the functionality is exposed through entities. Hence .so or .dll (dynamic-link) libraries are generated in the dynamic-graph plugins directory.

The following entities are created by this package:
(all entites are placed in the namespace sot::)

  • sot::PatternGenerator
  • (to be continued)

See each entity's documentation page for more information (when available).