├── .clang-format ├── .github └── workflows │ ├── LIPMWalking.conf │ ├── build.yml │ └── mc_rtc.conf ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── AUTHORS ├── CHANGELOG.md ├── CMakeLists.txt ├── COMMITS.md ├── LICENSE ├── README.md ├── doc ├── .gitignore ├── Doxyfile.extra.in ├── build.dox ├── docker.dox ├── header.html ├── mainpage.dox ├── online_footstep_planner.md ├── overview.dox ├── pictures │ └── plots │ │ ├── hrp4_increase_cop_adm_01.png │ │ ├── hrp4_increase_cop_adm_02.png │ │ ├── hrp4_increase_dcm_k_1.png │ │ ├── hrp4_increase_dcm_k_2.png │ │ ├── sim_hrp2_increase_integral_20_error.png │ │ ├── sim_hrp2_increase_integral_20_x.png │ │ ├── sim_hrp2_increase_integral_20_y.png │ │ ├── sim_hrp2_increase_integral_42_error.png │ │ ├── sim_hrp2_increase_integral_42_x.png │ │ ├── sim_hrp2_increase_integral_42_y.png │ │ ├── sim_hrp4_dcm_pi_1_10.png │ │ └── sim_hrp4_dcm_pi_2_5.png ├── stabilizer.dox └── troubleshooting.dox ├── etc ├── LIPMWalking.in.yaml ├── mc_log_ui │ └── custom_plot.json └── mc_rtc.yaml ├── image ├── Screenshot from 2022-01-18 18-28-38.png ├── Screenshot from 2022-01-18 18-28-46.png ├── Screenshot from 2022-01-18 18-29-11.png ├── Screenshot from 2022-01-18 18-40-29.png ├── Screenshot from 2022-01-18 18-41-16.png └── Screenshot from 2022-01-18 19-17-45.png ├── include └── lipm_walking │ ├── Contact.h │ ├── Controller.h │ ├── ExternalPlanner.h │ ├── FootstepPlan.h │ ├── ModelPredictiveControl.h │ ├── PlanInterpolator.h │ ├── Preview.h │ ├── Sole.h │ ├── State.h │ ├── SwingFoot.h │ ├── WalkingState.h │ └── utils │ ├── SE2d.h │ ├── clamp.h │ ├── polynomials.h │ └── slerp.h ├── launch └── run_online_footstep_planner_and_joy_node.launch ├── plugins └── ExternalFootstepPlanner │ ├── CMakeLists.txt │ ├── etc │ └── ExternalFootstepPlannerPlugin.in.yaml │ ├── include │ └── ExternalFootstepPlanner │ │ ├── Contact.h │ │ ├── DummyPlanner.h │ │ ├── ExternalFootstepPlanner.h │ │ ├── ExternalFootstepPlannerPlugin.h │ │ ├── HybridPlanner.h │ │ ├── InputConvertor.h │ │ ├── OnlineFootstepPlanner.h │ │ ├── Plan.h │ │ ├── Request.h │ │ └── SE2d.h │ └── src │ ├── DummyPlanner.cpp │ ├── ExternalFootstepPlanner.cpp │ ├── ExternalFootstepPlannerPlugin.cpp │ ├── HybridPlanner.cpp │ ├── InputConvertor.cpp │ ├── OnlineFootstepPlanner.cpp │ ├── Plan.cpp │ └── Request.cpp └── src ├── CMakeLists.txt ├── Controller.cpp ├── ExternalPlanner.cpp ├── FootstepPlan.cpp ├── ModelPredictiveControl.cpp ├── PlanInterpolator.cpp ├── Preview.cpp ├── SwingFoot.cpp ├── lib.cpp └── states ├── CMakeLists.txt ├── DoubleSupport.cpp ├── DoubleSupport.h ├── Initial.cpp ├── Initial.h ├── RunStabilizer.cpp ├── RunStabilizer.h ├── SingleSupport.cpp ├── SingleSupport.h ├── Standing.cpp ├── Standing.h └── data └── states.yaml /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jrl-umi3218/lipm_walking_controller/HEAD/.clang-format 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