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

• iDynTree, at least version 4.3.0
• Eigen.

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

Implementation