pendulum_feasibility_solver

Linear Inverted Pendulum based footsteps location and steps timing adptation for Bipedal Locomotion.

Using the current walking plan and the robot state, this will generate the closest location and timings from the plan that will guarantee a feasible LIPM-based centroidal trajectory

Dependencies

SpaceVecAlg

eigen-quadprog

Installation

In repo directory

mkdir build && cd build
cmake ..
make 
sudo make install