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![]() ![]() ![]() ![]() | Finds the PG and sends steps to the PG |
![]() ![]() ![]() ![]() | This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implemented by the walkGenJRL library |
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![]() ![]() ![]() ![]() | Generates footsteps |
![]() ![]() ![]() ![]() | Generates footsteps |
![]() ![]() ![]() ![]() | Generates footsteps |
![]() ![]() ![]() ![]() | Generates footsteps |
![]() ![]() ![]() ![]() | Computes a reference frame from the position of both hands and feet of the robot |
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![]() ![]() ![]() ![]() | A step queue in the preview window |
![]() ![]() ![]() ![]() | Synchronizes the components for the automatic step generation |
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