#(X++) - Dynamic Motion Planner

With this library one can specify a set of steps for a quadruped robot to execute and a trajectory for the Center of Gravity (CoG) will be generated. This trajectory enusures, that the Zero Moment Point(ZMP) is always inside the current support triangle, defined by the given footholds. This keeps the robot dynamically stable during the walking gait.

Tip: After cloning the repository, generate Doxygen documentation for an example and step-by-step instructions how to use the code.

For further questions contact [email protected].

• Eigen

    $ sudo apt-get install libeigen3-dev
  

• Apache logging library log4cxx

    $ sudo apt-get install liblog4cxx10       # libs
    $ sudo apt-get install liblog4cxx10-dev   # headers
  

• (Optional) Google unit test framework

    $ sudo apt-get install libgtest-dev       # download headers and sources                  
    $ cd /usr/src/gtest             
    $ sudo cmake CMakeLists.txt
    $ sudo make                               # build library        
    $ sudo cp *.a /usr/lib                    # copy libgtest.a and libgtest_main.a to your /usr/lib folder
  

• Once dependencies are installed, go to the top-level directory of xpp and type the following commands:

    $ mkdir build
    $ cd build
    $ cmake ..    
    $ make
  

• If you want to install the library xpp and header files globally in /usr/local run

    $ sudo make install    
  

• Doxygen version >1.8.6 required

• Generate Doxygen documentation from this code

    $ cd doc
    $ doxygen Doxyfile
    $ google-chrome  html/index.html
  

• A powerpoint presentation if available in the "Downloads" section of this repository.