walk_interfaces: Humanoids Walking C++ Interface
C++ Interfaces used to generated humanoid robots walking
Provides the definition of the following structures:
It also defines how of to store walking trajectories using the
- footprints (2d, 3d),
- trajectories (2d, 3d),
- 2d points, 3d points, 2d frames, 3d frames as homogeneous
- pattern generator (2d, 3d): an algorithm which produces
feet, ZMP and center of mass trajectories from a stack of time
walk_interfaces provides abstract interfaces to define a pattern generator.
A pattern generator is a piece of software which generates walking reference trajectories.
The core of this package is the walk::PatternGenerator class. This is an abstract class which cannot be directly instantiated. This package cannot generate walking trajectories, it only provides interfaces.
See the other package of the humanoid_walk stack to obtain more information about the different available pattern generators.