├── .clang-format ├── .gitattributes ├── .github └── workflows │ └── wheels.yml ├── .gitignore ├── .readthedocs.yaml ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── bindings ├── doxystub.h ├── expose-dynamics.cpp ├── expose-eigen.cpp ├── expose-footsteps.cpp ├── expose-kinematics.cpp ├── expose-parameters.cpp ├── expose-problem.cpp ├── expose-robot-wrapper.cpp ├── expose-tools.cpp ├── expose-utils.hpp ├── expose-walk-pattern-generator.cpp ├── module.cpp └── module.h ├── pyproject.toml ├── python ├── .vscode │ └── settings.json ├── Makefile ├── __init__.py ├── placo_utils │ ├── __init__.py │ ├── tf.py │ ├── view.py │ └── visualization.py └── run_tests.sh ├── scripts ├── requirements.sh └── robotpkg.sh ├── src └── placo │ ├── dynamics │ ├── avoid_self_collisions_constraint.cpp │ ├── avoid_self_collisions_constraint.h │ ├── com_task.cpp │ ├── com_task.h │ ├── constraint.cpp │ ├── constraint.h │ ├── contacts.cpp │ ├── contacts.h │ ├── dynamics_solver.cpp │ ├── dynamics_solver.h │ ├── frame_task.cpp │ ├── frame_task.h │ ├── gear_task.cpp │ ├── gear_task.h │ ├── joints_task.cpp │ ├── joints_task.h │ ├── orientation_task.cpp │ ├── orientation_task.h │ ├── position_task.cpp │ ├── position_task.h │ ├── relative_frame_task.cpp │ ├── relative_frame_task.h │ ├── relative_orientation_task.cpp │ ├── relative_orientation_task.h │ ├── relative_position_task.cpp │ ├── relative_position_task.h │ ├── task.cpp │ ├── task.h │ ├── torque_task.cpp │ └── torque_task.h │ ├── humanoid │ ├── dummy_walk.cpp │ ├── dummy_walk.h │ ├── foot_trajectory.cpp │ ├── foot_trajectory.h │ ├── footsteps_planner.cpp │ ├── footsteps_planner.h │ ├── footsteps_planner_naive.cpp │ ├── footsteps_planner_naive.h │ ├── footsteps_planner_repetitive.cpp │ ├── footsteps_planner_repetitive.h │ ├── humanoid_parameters.cpp │ ├── humanoid_parameters.h │ ├── humanoid_robot.cpp │ ├── humanoid_robot.h │ ├── kick.cpp │ ├── kick.h │ ├── lipm.cpp │ ├── lipm.h │ ├── swing_foot.cpp │ ├── swing_foot.h │ ├── swing_foot_cubic.cpp │ ├── swing_foot_cubic.h │ ├── swing_foot_quintic.cpp │ ├── swing_foot_quintic.h │ ├── walk_pattern_generator.cpp │ ├── walk_pattern_generator.h │ ├── walk_tasks.cpp │ └── walk_tasks.h │ ├── kinematics │ ├── avoid_self_collisions_constraint.cpp │ ├── avoid_self_collisions_constraint.h │ ├── axis_align_task.cpp │ ├── axis_align_task.h │ ├── centroidal_momentum_task.cpp │ ├── centroidal_momentum_task.h │ ├── com_polygon_constraint.cpp │ ├── com_polygon_constraint.h │ ├── com_task.cpp │ ├── com_task.h │ ├── cone_constraint.cpp │ ├── cone_constraint.h │ ├── constraint.cpp │ ├── constraint.h │ ├── distance_constraint.cpp │ ├── distance_constraint.h │ ├── distance_task.cpp │ ├── distance_task.h │ ├── frame_task.cpp │ ├── frame_task.h │ ├── gear_task.cpp │ ├── gear_task.h │ ├── joint_space_half_spaces_constraint.cpp │ ├── joint_space_half_spaces_constraint.h │ ├── joints_task.cpp │ ├── joints_task.h │ ├── kinematics_solver.cpp │ ├── kinematics_solver.h │ ├── kinetic_energy_regularization_task.cpp │ ├── kinetic_energy_regularization_task.h │ ├── manipulability_task.cpp │ ├── manipulability_task.h │ ├── orientation_task.cpp │ ├── orientation_task.h │ ├── position_task.cpp │ ├── position_task.h │ ├── regularization_task.cpp │ ├── regularization_task.h │ ├── relative_frame_task.cpp │ ├── relative_frame_task.h │ ├── relative_orientation_task.cpp │ ├── relative_orientation_task.h │ ├── relative_position_task.cpp │ ├── relative_position_task.h │ ├── task.cpp │ ├── task.h │ ├── wheel_task.cpp │ ├── wheel_task.h │ ├── yaw_constraint.cpp │ └── yaw_constraint.h │ ├── model │ ├── robot_wrapper.cpp │ └── robot_wrapper.h │ ├── problem │ ├── constraint.cpp │ ├── constraint.h │ ├── expression.cpp │ ├── expression.h │ ├── integrator.cpp │ ├── integrator.h │ ├── polygon_constraint.cpp │ ├── polygon_constraint.h │ ├── problem.cpp │ ├── problem.h │ ├── problem_polynom.cpp │ ├── problem_polynom.h │ ├── qp_error.cpp │ ├── qp_error.h │ ├── sparsity.cpp │ ├── sparsity.h │ ├── variable.cpp │ └── variable.h │ └── tools │ ├── axises_mask.cpp │ ├── axises_mask.h │ ├── cubic_spline.cpp │ ├── cubic_spline.h │ ├── cubic_spline_3d.cpp │ ├── cubic_spline_3d.h │ ├── directions.cpp │ ├── directions.h │ ├── polynom.cpp │ ├── polynom.h │ ├── prioritized.cpp │ ├── prioritized.h │ ├── segment.cpp │ ├── segment.h │ ├── utils.cpp │ └── utils.h └── wks.yml /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Rhoban/placo/HEAD/.clang-format -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Rhoban/placo/HEAD/.gitattributes -------------------------------------------------------------------------------- /.github/workflows/wheels.yml: -------------------------------------------------------------------------------- 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