├── .github └── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── .gitignore ├── .gitmodules ├── .travis.yml ├── CMakeLists.txt ├── CONTRIBUTION.md ├── Doxyfile ├── LICENSE ├── README.md ├── aarch64.cmake ├── armhf.cmake ├── config ├── M3_params.yaml ├── m1_dynamic_params.cfg ├── m2p_params.yaml ├── x2.perspective ├── x2_dynamic_params.cfg ├── x2_params.yaml └── x2_ros_control.yaml ├── corc.cmake ├── doc ├── 1.GettingStarted │ ├── AdvancedSimulationAndHardwareTesting.md │ ├── GSBasicSimulation.md │ ├── GSFITHVDemoMachine.md │ ├── GSM1DemoMachine.md │ ├── GSM2DemoMachine.md │ ├── GSM3DemoMachine.md │ ├── GettingStarted.md │ ├── InstallLinux.md │ ├── InstallROS.md │ ├── InstallWindows.md │ └── ROS2Application.md ├── 2.Hardware │ ├── BBUse.md │ ├── CANIMU.md │ ├── InputsList.md │ ├── ModifyingDevice.md │ └── USBCANadapters.md ├── 3.Software │ ├── CustomApplication.md │ ├── Flowchart.md │ ├── Logging.md │ └── NetworkCommunication.md ├── Diagrams │ ├── CORCStateMachineExecution.drawio │ └── CORC_flow_chart.drawio ├── am5729-beagleboneai-custom-can.dtb └── img │ ├── CANRJ45.png │ ├── CORCStateMachineExecutionDiagram.png │ ├── CORC_flow_chart.png │ ├── CORC_flow_chart.svg │ ├── DeviceHardwareModif.png │ ├── FITHVExo.jpg │ ├── FITHVLemoConnector.png │ ├── FLNLUnity.png │ ├── FLNLUnity.svg │ ├── GSExoSimSD.png │ ├── M1_robot.png │ ├── M2WithFrames.png │ ├── M3WithFrames.png │ ├── M3WithFrames.svg │ ├── exoTestMachine.png │ ├── x2_gui.png │ ├── x2_realtimeViz.png │ ├── x2_rviz.png │ └── x2_sin_rviz.gif ├── launch ├── m1_real.launch ├── x2_real.launch ├── x2_ros2.launch.py └── x2_sim.launch ├── lib └── Eigen │ ├── CMakeLists.txt │ ├── COPYING.BSD │ ├── COPYING.GPL │ ├── COPYING.LGPL │ ├── COPYING.MINPACK │ ├── COPYING.MPL2 │ ├── COPYING.README │ ├── CTestConfig.cmake │ ├── CTestCustom.cmake.in │ ├── Eigen │ ├── CMakeLists.txt │ ├── Cholesky │ ├── CholmodSupport │ ├── Core │ ├── Dense │ ├── Eigen │ ├── Eigenvalues │ ├── Geometry │ ├── Householder │ ├── IterativeLinearSolvers │ ├── Jacobi │ ├── LU │ ├── MetisSupport │ ├── OrderingMethods │ ├── PaStiXSupport │ ├── PardisoSupport │ ├── QR │ ├── QtAlignedMalloc │ ├── SPQRSupport │ ├── SVD │ ├── Sparse │ ├── SparseCholesky │ ├── SparseCore │ ├── SparseLU │ ├── SparseQR │ ├── StdDeque │ ├── StdList │ ├── StdVector │ ├── SuperLUSupport │ ├── UmfPackSupport │ └── src │ │ ├── Cholesky │ │ ├── LDLT.h │ │ ├── LLT.h │ │ └── LLT_LAPACKE.h │ │ ├── CholmodSupport │ │ └── CholmodSupport.h │ │ ├── Core │ │ ├── ArithmeticSequence.h │ │ ├── Array.h │ │ ├── ArrayBase.h │ │ ├── ArrayWrapper.h │ │ ├── Assign.h │ │ ├── AssignEvaluator.h │ │ ├── Assign_MKL.h │ │ ├── BandMatrix.h │ │ ├── Block.h │ │ ├── BooleanRedux.h │ │ ├── CommaInitializer.h │ │ ├── ConditionEstimator.h │ │ ├── CoreEvaluators.h │ │ ├── CoreIterators.h │ │ ├── CwiseBinaryOp.h │ │ ├── CwiseNullaryOp.h │ │ ├── CwiseTernaryOp.h │ │ ├── CwiseUnaryOp.h │ │ ├── CwiseUnaryView.h │ │ ├── DenseBase.h │ │ ├── DenseCoeffsBase.h │ │ ├── DenseStorage.h │ │ ├── Diagonal.h │ │ ├── DiagonalMatrix.h │ │ ├── DiagonalProduct.h │ │ ├── Dot.h │ │ ├── EigenBase.h │ │ ├── ForceAlignedAccess.h │ │ ├── Fuzzy.h │ │ ├── GeneralProduct.h │ │ ├── GenericPacketMath.h │ │ ├── GlobalFunctions.h │ │ ├── IO.h │ │ ├── IndexedView.h │ │ ├── Inverse.h │ │ ├── Map.h │ │ ├── MapBase.h │ │ ├── MathFunctions.h │ │ ├── MathFunctionsImpl.h │ │ ├── Matrix.h │ │ ├── MatrixBase.h │ │ ├── NestByValue.h │ │ ├── NoAlias.h │ │ ├── NumTraits.h │ │ ├── PermutationMatrix.h │ │ ├── PlainObjectBase.h │ │ ├── Product.h │ │ ├── ProductEvaluators.h │ │ ├── Random.h │ │ ├── Redux.h │ │ ├── Ref.h │ │ ├── Replicate.h │ │ ├── ReturnByValue.h │ │ ├── Reverse.h │ │ ├── Select.h │ │ ├── SelfAdjointView.h │ │ ├── SelfCwiseBinaryOp.h │ │ ├── Solve.h │ │ ├── SolveTriangular.h │ │ ├── SolverBase.h │ │ ├── StableNorm.h │ │ ├── Stride.h │ │ ├── Swap.h │ │ ├── Transpose.h │ │ ├── Transpositions.h │ │ ├── TriangularMatrix.h │ │ ├── VectorBlock.h │ │ ├── VectorwiseOp.h │ │ ├── Visitor.h │ │ ├── arch │ │ │ ├── AVX │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ ├── AVX512 │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── AltiVec │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── CUDA │ │ │ │ ├── Complex.h │ │ │ │ ├── Half.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ ├── PacketMathHalf.h │ │ │ │ └── TypeCasting.h │ │ │ ├── Default │ │ │ │ └── Settings.h │ │ │ ├── NEON │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── SSE │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ └── ZVector │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ ├── functors │ │ │ ├── AssignmentFunctors.h │ │ │ ├── BinaryFunctors.h │ │ │ ├── NullaryFunctors.h │ │ │ ├── StlFunctors.h │ │ │ ├── TernaryFunctors.h │ │ │ └── UnaryFunctors.h │ │ ├── products │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ ├── GeneralMatrixMatrix.h │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ ├── GeneralMatrixVector.h │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ ├── Parallelizer.h │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ ├── SelfadjointMatrixVector.h │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ ├── SelfadjointProduct.h │ │ │ ├── SelfadjointRank2Update.h │ │ │ ├── TriangularMatrixMatrix.h │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ ├── TriangularMatrixVector.h │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ ├── TriangularSolverMatrix.h │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ └── TriangularSolverVector.h │ │ └── util │ │ │ ├── BlasUtil.h │ │ │ ├── Constants.h │ │ │ ├── DisableStupidWarnings.h │ │ │ ├── ForwardDeclarations.h │ │ │ ├── IndexedViewHelper.h │ │ │ ├── IntegralConstant.h │ │ │ ├── MKL_support.h │ │ │ ├── Macros.h │ │ │ ├── Memory.h │ │ │ ├── Meta.h │ │ │ ├── NonMPL2.h │ │ │ ├── ReenableStupidWarnings.h │ │ │ ├── StaticAssert.h │ │ │ ├── SymbolicIndex.h │ │ │ └── XprHelper.h │ │ ├── Eigenvalues │ │ ├── ComplexEigenSolver.h │ │ ├── ComplexSchur.h │ │ ├── ComplexSchur_LAPACKE.h │ │ ├── EigenSolver.h │ │ ├── GeneralizedEigenSolver.h │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ ├── HessenbergDecomposition.h │ │ ├── MatrixBaseEigenvalues.h │ │ ├── RealQZ.h │ │ ├── RealSchur.h │ │ ├── RealSchur_LAPACKE.h │ │ ├── SelfAdjointEigenSolver.h │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ └── Tridiagonalization.h │ │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── AngleAxis.h │ │ ├── EulerAngles.h │ │ ├── Homogeneous.h │ │ ├── Hyperplane.h │ │ ├── OrthoMethods.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ ├── Translation.h │ │ ├── Umeyama.h │ │ └── arch │ │ │ └── Geometry_SSE.h │ │ ├── Householder │ │ ├── BlockHouseholder.h │ │ ├── Householder.h │ │ └── HouseholderSequence.h │ │ ├── IterativeLinearSolvers │ │ ├── BasicPreconditioners.h │ │ ├── BiCGSTAB.h │ │ ├── ConjugateGradient.h │ │ ├── IncompleteCholesky.h │ │ ├── IncompleteLUT.h │ │ ├── IterativeSolverBase.h │ │ ├── LeastSquareConjugateGradient.h │ │ └── SolveWithGuess.h │ │ ├── Jacobi │ │ └── Jacobi.h │ │ ├── LU │ │ ├── Determinant.h │ │ ├── FullPivLU.h │ │ ├── InverseImpl.h │ │ ├── PartialPivLU.h │ │ ├── PartialPivLU_LAPACKE.h │ │ └── arch │ │ │ └── Inverse_SSE.h │ │ ├── MetisSupport │ │ └── MetisSupport.h │ │ ├── OrderingMethods │ │ ├── Amd.h │ │ ├── Eigen_Colamd.h │ │ └── Ordering.h │ │ ├── PaStiXSupport │ │ └── PaStiXSupport.h │ │ ├── PardisoSupport │ │ └── PardisoSupport.h │ │ ├── QR │ │ ├── ColPivHouseholderQR.h │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ ├── CompleteOrthogonalDecomposition.h │ │ ├── FullPivHouseholderQR.h │ │ ├── HouseholderQR.h │ │ └── HouseholderQR_LAPACKE.h │ │ ├── SPQRSupport │ │ └── SuiteSparseQRSupport.h │ │ ├── SVD │ │ ├── BDCSVD.h │ │ ├── JacobiSVD.h │ │ ├── JacobiSVD_LAPACKE.h │ │ ├── SVDBase.h │ │ └── UpperBidiagonalization.h │ │ ├── SparseCholesky │ │ ├── SimplicialCholesky.h │ │ └── SimplicialCholesky_impl.h │ │ ├── SparseCore │ │ ├── AmbiVector.h │ │ ├── CompressedStorage.h │ │ ├── ConservativeSparseSparseProduct.h │ │ ├── MappedSparseMatrix.h │ │ ├── SparseAssign.h │ │ ├── SparseBlock.h │ │ ├── SparseColEtree.h │ │ ├── SparseCompressedBase.h │ │ ├── SparseCwiseBinaryOp.h │ │ ├── SparseCwiseUnaryOp.h │ │ ├── SparseDenseProduct.h │ │ ├── SparseDiagonalProduct.h │ │ ├── SparseDot.h │ │ ├── SparseFuzzy.h │ │ ├── SparseMap.h │ │ ├── SparseMatrix.h │ │ ├── SparseMatrixBase.h │ │ ├── SparsePermutation.h │ │ ├── SparseProduct.h │ │ ├── SparseRedux.h │ │ ├── SparseRef.h │ │ ├── SparseSelfAdjointView.h │ │ ├── SparseSolverBase.h │ │ ├── SparseSparseProductWithPruning.h │ │ ├── SparseTranspose.h │ │ ├── SparseTriangularView.h │ │ ├── SparseUtil.h │ │ ├── SparseVector.h │ │ ├── SparseView.h │ │ └── TriangularSolver.h │ │ ├── SparseLU │ │ ├── SparseLU.h │ │ ├── SparseLUImpl.h │ │ ├── SparseLU_Memory.h │ │ ├── SparseLU_Structs.h │ │ ├── SparseLU_SupernodalMatrix.h │ │ ├── SparseLU_Utils.h │ │ ├── SparseLU_column_bmod.h │ │ ├── SparseLU_column_dfs.h │ │ ├── SparseLU_copy_to_ucol.h │ │ ├── SparseLU_gemm_kernel.h │ │ ├── SparseLU_heap_relax_snode.h │ │ ├── SparseLU_kernel_bmod.h │ │ ├── SparseLU_panel_bmod.h │ │ ├── SparseLU_panel_dfs.h │ │ ├── SparseLU_pivotL.h │ │ ├── SparseLU_pruneL.h │ │ └── SparseLU_relax_snode.h │ │ ├── SparseQR │ │ └── SparseQR.h │ │ ├── StlSupport │ │ ├── StdDeque.h │ │ ├── StdList.h │ │ ├── StdVector.h │ │ └── details.h │ │ ├── SuperLUSupport │ │ └── SuperLUSupport.h │ │ ├── UmfPackSupport │ │ └── UmfPackSupport.h │ │ ├── misc │ │ ├── Image.h │ │ ├── Kernel.h │ │ ├── RealSvd2x2.h │ │ ├── blas.h │ │ ├── lapack.h │ │ ├── lapacke.h │ │ └── lapacke_mangling.h │ │ └── plugins │ │ ├── ArrayCwiseBinaryOps.h │ │ ├── ArrayCwiseUnaryOps.h │ │ ├── BlockMethods.h │ │ ├── CommonCwiseBinaryOps.h │ │ ├── CommonCwiseUnaryOps.h │ │ ├── IndexedViewMethods.h │ │ ├── MatrixCwiseBinaryOps.h │ │ └── MatrixCwiseUnaryOps.h │ ├── INSTALL │ ├── README.md │ ├── eigen3.pc.in │ └── signature_of_eigen3_matrix_library ├── msg ├── X2Acceleration.msg ├── X2AccelerationMerge.msg └── X2Array.msg ├── package.ros1.xml ├── package.ros2.xml ├── script ├── createStateMachine.sh ├── initCAN0.sh ├── initCAN0CAN1.sh ├── initCAN1.sh ├── initVCAN.sh ├── rqt.sh └── uploadBB.sh └── src ├── apps ├── ExoTestMachine │ ├── TrajectoryGenerator │ │ ├── DummyTrajectoryGenerator.cpp │ │ └── DummyTrajectoryGenerator.h │ ├── app.cmake │ └── stateMachine │ │ ├── ExoTestMachine.cpp │ │ ├── ExoTestMachine.h │ │ └── states │ │ ├── ExoTestState.cpp │ │ ├── ExoTestState.h │ │ ├── InitState.cpp │ │ ├── InitState.h │ │ ├── Sitting.cpp │ │ ├── Sitting.h │ │ ├── SittingDwn.cpp │ │ ├── SittingDwn.h │ │ ├── Standing.cpp │ │ ├── Standing.h │ │ ├── StandingUp.cpp │ │ └── StandingUp.h ├── FITHVExoDemoMachine │ ├── FITHVExoDemoMachine.cpp │ ├── FITHVExoDemoMachine.h │ ├── FITHVExoDemoStates.cpp │ ├── FITHVExoDemoStates.h │ └── app.cmake ├── LoggingDevice │ ├── app.cmake │ └── stateMachine │ │ ├── LoggingDevice.cpp │ │ ├── LoggingDevice.h │ │ └── states │ │ ├── CalibrateState.cpp │ │ ├── CalibrateState.h │ │ ├── IdleState.cpp │ │ ├── IdleState.h │ │ ├── InitState.cpp │ │ ├── InitState.h │ │ ├── RecordState.cpp │ │ └── RecordState.h ├── M1DemoMachine │ ├── M1DemoMachine.cpp │ ├── M1DemoMachine.h │ ├── M1DemoStates.cpp │ ├── M1DemoStates.h │ └── app.cmake ├── M1DemoMachineROS │ ├── M1DemoMachineROS.cpp │ ├── M1DemoMachineROS.h │ ├── M1MachineROS.cpp │ ├── M1MachineROS.h │ ├── app.cmake │ └── states │ │ ├── MultiControllerState.cpp │ │ └── MultiControllerState.h ├── M2DemoMachine │ ├── M2DemoMachine.cpp │ ├── M2DemoMachine.h │ ├── M2DemoStates.cpp │ ├── M2DemoStates.h │ └── app.cmake ├── M2ProDemoMachine │ ├── M2ProDemoMachine.cpp │ ├── M2ProDemoMachine.h │ ├── M2ProDemoStates.cpp │ ├── M2ProDemoStates.h │ ├── README.md │ └── app.cmake ├── M3DemoMachine │ ├── M3DemoMachine.cpp │ ├── M3DemoMachine.h │ ├── M3DemoStates.cpp │ ├── M3DemoStates.h │ └── app.cmake ├── StateMachineTemplate │ ├── StateMachineTemplate.cpp │ ├── StateMachineTemplate.h │ ├── StatesTemplate.cpp │ ├── StatesTemplate.h │ └── app.cmake ├── X2DemoMachine │ ├── X2DemoMachine.cpp │ ├── X2DemoMachine.h │ ├── X2DemoMachineROS.cpp │ ├── X2DemoMachineROS.h │ ├── app.cmake │ └── states │ │ ├── X2DemoState.cpp │ │ └── X2DemoState.h └── X2ROS2DemoMachine │ ├── X2ROS2DemoMachine.cpp │ ├── X2ROS2DemoMachine.h │ ├── X2ROS2Node.cpp │ ├── X2ROS2Node.h │ ├── X2ROS2State.cpp │ ├── X2ROS2State.h │ └── app.cmake ├── core ├── CANopen │ ├── CANcomms │ │ ├── CO_comm_helpers.c │ │ ├── CO_comm_helpers.h │ │ ├── CO_command.c │ │ ├── CO_command.h │ │ ├── CO_master.c │ │ ├── CO_master.h │ │ ├── CO_time.c │ │ └── CO_time.h │ ├── CANopenNode │ │ ├── CANopen.c │ │ ├── CANopen.h │ │ ├── LICENSE │ │ ├── README.md │ │ ├── RPDO.cpp │ │ ├── RPDO.h │ │ ├── TPDO.cpp │ │ ├── TPDO.h │ │ └── stack │ │ │ ├── CO_Emergency.c │ │ │ ├── CO_Emergency.h │ │ │ ├── CO_HBconsumer.c │ │ │ ├── CO_HBconsumer.h │ │ │ ├── CO_NMT_Heartbeat.c │ │ │ ├── CO_NMT_Heartbeat.h │ │ │ ├── CO_PDO.c │ │ │ ├── CO_PDO.h │ │ │ ├── CO_SDO.c │ │ │ ├── CO_SDO.h │ │ │ ├── CO_SDOmaster.c │ │ │ ├── CO_SDOmaster.h │ │ │ ├── CO_SYNC.c │ │ │ ├── CO_SYNC.h │ │ │ ├── CO_trace.c │ │ │ ├── CO_trace.h │ │ │ ├── crc16-ccitt.c │ │ │ ├── crc16-ccitt.h │ │ │ └── socketCAN │ │ │ ├── CO_Linux_tasks.c │ │ │ ├── CO_Linux_tasks.h │ │ │ ├── CO_OD_storage.c │ │ │ ├── CO_OD_storage.h │ │ │ ├── CO_driver.c │ │ │ └── CO_driver.h │ └── objDict │ │ ├── CANopenSocket.eds │ │ ├── CANopenSocket.html │ │ ├── CO_OD.c │ │ ├── CO_OD.h │ │ └── _project.html ├── LogHelper.h ├── application.cpp ├── application.h ├── logging.cpp ├── logging.h ├── main.cpp ├── network │ └── FLNLHelper.h ├── robot │ ├── CANDevice.cpp │ ├── CANDevice.h │ ├── Drive.cpp │ ├── Drive.h │ ├── InputDevice.cpp │ ├── InputDevice.h │ ├── Joint.cpp │ ├── Joint.h │ ├── Robot.cpp │ └── Robot.h └── stateMachine │ ├── State.h │ ├── StateMachine.cpp │ └── StateMachine.h └── hardware ├── IO ├── CANIMU.cpp ├── CANIMU.h ├── FITAbsEncoder.cpp ├── FITAbsEncoder.h ├── FourierForceSensor.cpp ├── FourierForceSensor.h ├── FourierHandle.cpp ├── FourierHandle.h ├── HX711.cpp ├── HX711.h ├── Joystick.cpp ├── Joystick.h ├── Keyboard.cpp ├── Keyboard.h ├── RobotousRFT.cpp ├── RobotousRFT.h ├── TechnaidIMU.cpp ├── TechnaidIMU.h ├── iobb.c └── iobb.h ├── drives ├── CopleyDrive.cpp ├── CopleyDrive.h ├── EPOSDrive.cpp ├── EPOSDrive.h ├── KincoDrive.cpp └── KincoDrive.h └── platforms ├── FITHVExo ├── JointFITHVExo.cpp ├── JointFITHVExo.h ├── RobotFITHVExo.cpp └── RobotFITHVExo.h ├── LoggingRobot ├── LoggingRobot.cpp └── LoggingRobot.h ├── M1 ├── JointM1.cpp ├── JointM1.h ├── RobotM1.cpp └── RobotM1.h ├── M2 ├── JointM2.cpp ├── JointM2.h ├── RobotM2.cpp └── RobotM2.h ├── M2P ├── JointM2P.cpp ├── JointM2P.h ├── RobotM2P.cpp 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