├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── DynamicControl.cfg └── anymal_config.yaml ├── include ├── anymal_constants.hpp ├── control │ ├── ho_qp │ │ ├── ho_qp_controller.hpp │ │ ├── ho_qp_problem.hpp │ │ └── task_definition.hpp │ ├── integrator.hpp │ ├── joint_controller.hpp │ └── whole_body_controller.hpp ├── dynamics │ └── dynamics.hpp ├── gazebo │ └── anymal_plugin.hpp ├── helper_functions.hpp ├── math.hpp ├── planner │ ├── base_planner.hpp │ ├── gait_sequence.hpp │ ├── leg_planner.hpp │ └── motion_planner.hpp ├── variable_types.hpp └── visualize │ └── joint_state_publisher.hpp ├── launch ├── anymal.launch ├── motion_planner.launch ├── run_controllers.launch ├── tune_joint_controllers.launch └── visualize_kinematics.launch ├── package.xml ├── python_prototyping └── visualize.py ├── rviz └── show_motion_plan.rviz └── src ├── control ├── ho_qp │ ├── ho_qp_controller.cpp │ └── ho_qp_problem.cpp ├── integrator.cpp ├── joint_controller.cpp └── whole_body_controller.cpp ├── dynamics └── dynamics.cpp ├── gazebo └── anymal_plugin.cpp ├── planner ├── base_planner.cpp ├── frame_broadcaster.cpp ├── leg_planner.cpp └── motion_planner.cpp └── visualize └── joint_state_publisher.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bernhardpg/quadruped_locomotion/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bernhardpg/quadruped_locomotion/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bernhardpg/quadruped_locomotion/HEAD/README.md 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