├── .gitignore ├── LICENSE ├── README.md ├── free_gait_action_loader ├── CHANGELOG.rst ├── CMakeLists.txt ├── bin │ └── free_gait_action_loader │ │ └── action_loader.py ├── package.xml ├── setup.py └── src │ └── free_gait_action_loader │ ├── __init__.py │ ├── action_handling.py │ └── collection_handling.py ├── free_gait_core ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── control_scheme.pdf │ ├── control_scheme_preview.png │ ├── motion_examples.jpg │ ├── motion_examples_preview.jpg │ ├── notions_and_coordinate_systems.pdf │ └── notions_and_coordinate_systems_preview.png ├── include │ └── free_gait_core │ │ ├── TypeDefs.hpp │ │ ├── TypePrints.hpp │ │ ├── base_motion │ │ ├── BaseAuto.hpp │ │ ├── BaseMotionBase.hpp │ │ ├── BaseTarget.hpp │ │ ├── BaseTrajectory.hpp │ │ └── base_motion.hpp │ │ ├── executor │ │ ├── AdapterBase.hpp │ │ ├── BatchExecutor.hpp │ │ ├── Executor.hpp │ │ ├── ExecutorState.hpp │ │ ├── State.hpp │ │ ├── StateBatch.hpp │ │ ├── StateBatchComputer.hpp │ │ └── executor.hpp │ │ ├── free_gait_core.hpp │ │ ├── leg_motion │ │ ├── EndEffectorMotionBase.hpp │ │ ├── EndEffectorTarget.hpp │ │ ├── EndEffectorTrajectory.hpp │ │ ├── Footstep.hpp │ │ ├── JointMotionBase.hpp │ │ ├── JointTrajectory.hpp │ │ ├── LegMode.hpp │ │ ├── LegMotionBase.hpp │ │ └── leg_motion.hpp │ │ ├── pose_optimization │ │ ├── PoseConstraintsChecker.hpp │ │ ├── PoseOptimizationBase.hpp │ │ ├── PoseOptimizationFunctionConstraints.hpp │ │ ├── PoseOptimizationGeometric.hpp │ │ ├── PoseOptimizationObjectiveFunction.hpp │ │ ├── PoseOptimizationProblem.hpp │ │ ├── PoseOptimizationQP.hpp │ │ ├── PoseOptimizationSQP.hpp │ │ ├── PoseParameterization.hpp │ │ └── pose_optimization.hpp │ │ └── step │ │ ├── CustomCommand.hpp │ │ ├── Step.hpp │ │ ├── StepCompleter.hpp │ │ ├── StepComputer.hpp │ │ ├── StepParameters.hpp │ │ ├── StepQueue.hpp │ │ └── step.hpp ├── matlab │ ├── pose_optimization.m │ ├── vert2con.m │ └── vert2con_eigen.m ├── package.xml ├── src │ ├── TypeDefs.cpp │ ├── TypePrints.cpp │ ├── base_motion │ │ ├── BaseAuto.cpp │ │ ├── BaseMotionBase.cpp │ │ ├── BaseTarget.cpp │ │ └── BaseTrajectory.cpp │ ├── executor │ │ ├── AdapterBase.cpp │ │ ├── BatchExecutor.cpp │ │ ├── Executor.cpp │ │ ├── ExecutorState.cpp │ │ ├── State.cpp │ │ ├── StateBatch.cpp │ │ └── StateBatchComputer.cpp │ ├── leg_motion │ │ ├── EndEffectorMotionBase.cpp │ │ ├── EndEffectorTarget.cpp │ │ ├── EndEffectorTrajectory.cpp │ │ ├── Footstep.cpp │ │ ├── JointMotionBase.cpp │ │ ├── JointTrajectory.cpp │ │ ├── LegMode.cpp │ │ └── LegMotionBase.cpp │ ├── pose_optimization │ │ ├── PoseConstraintsChecker.cpp │ │ ├── PoseOptimizationBase.cpp │ │ ├── PoseOptimizationFunctionConstraints.cpp │ │ ├── PoseOptimizationGeometric.cpp │ │ ├── PoseOptimizationObjectiveFunction.cpp │ │ ├── PoseOptimizationProblem.cpp │ │ ├── PoseOptimizationQP.cpp │ │ ├── PoseOptimizationSQP.cpp │ │ └── PoseParameterization.cpp │ └── step │ │ ├── CustomCommand.cpp │ │ ├── Step.cpp │ │ ├── StepCompleter.cpp │ │ ├── StepComputer.cpp │ │ └── StepQueue.cpp └── test │ ├── AdapterDummy.cpp │ ├── AdapterDummy.hpp │ ├── FootstepTest.cpp │ ├── PoseOptimizationQpTest.cpp │ ├── PoseOptimizationSQPTest.cpp │ ├── StepTest.cpp │ └── test_free_gait_core.cpp ├── free_gait_marker ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ └── locomotion_controller.yaml ├── include │ └── free_gait_marker │ │ ├── marker_manager │ │ └── MarkerManager.hpp │ │ └── markers │ │ ├── MarkerFoot.hpp │ │ └── MarkerKnot.hpp ├── launch │ └── free_gait_marker.launch ├── package.xml └── src │ ├── free_gait_marker_node.cpp │ ├── marker_manager │ └── MarkerManager.cpp │ └── markers │ ├── MarkerFoot.cpp │ └── MarkerKnot.cpp ├── free_gait_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── action │ ├── ExecuteAction.action │ └── ExecuteSteps.action ├── msg │ ├── ActionDescription.msg │ ├── BaseAuto.msg │ ├── BaseTarget.msg │ ├── BaseTrajectory.msg │ ├── CollectionDescription.msg │ ├── CustomCommand.msg │ ├── EndEffectorTarget.msg │ ├── EndEffectorTrajectory.msg │ ├── Footstep.msg │ ├── JointTarget.msg │ ├── JointTrajectory.msg │ ├── LegMode.msg │ └── Step.msg ├── package.xml └── srv │ ├── GetActions.srv │ ├── GetCollections.srv │ ├── SendAction.srv │ └── SendActionSequence.srv ├── free_gait_python ├── CHANGELOG.rst ├── CMakeLists.txt ├── package.xml ├── setup.py └── src │ └── free_gait │ ├── __init__.py │ ├── action.py │ └── free_gait.py ├── free_gait_ros ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── free_gait_ros │ │ ├── AdapterRos.hpp │ │ ├── AdapterRosInterfaceBase.hpp │ │ ├── FreeGaitActionClient.hpp │ │ ├── FreeGaitActionServer.hpp │ │ ├── RosVisualization.hpp │ │ ├── StateRosPublisher.hpp │ │ ├── StepFrameConverter.hpp │ │ ├── StepRosConverter.hpp │ │ ├── free_gait_ros.hpp │ │ └── message_traits.hpp ├── package.xml ├── src │ ├── AdapterRos.cpp │ ├── AdapterRosInterfaceBase.cpp │ ├── FreeGaitActionClient.cpp │ ├── FreeGaitActionServer.cpp │ ├── RosVisualization.cpp │ ├── StateRosPublisher.cpp │ ├── StepFrameConverter.cpp │ └── StepRosConverter.cpp └── test │ └── test_free_gait_ros.cpp ├── free_gait_rviz_plugin ├── CHANGELOG.rst ├── CMakeLists.txt ├── icons │ └── classes │ │ └── FreeGaitPreview.png ├── include │ └── free_gait_rviz_plugin │ │ ├── FreeGaitPreviewDisplay.hpp │ │ ├── FreeGaitPreviewPlayback.hpp │ │ └── FreeGaitPreviewVisual.hpp ├── package.xml ├── plugin_description.xml └── src │ ├── FreeGaitPreviewDisplay.cpp │ ├── FreeGaitPreviewPlayback.cpp │ ├── FreeGaitPreviewVisual.cpp │ └── rviz │ └── properties │ ├── button_property.cpp │ ├── button_property.h │ ├── button_toggle_property.cpp │ ├── button_toggle_property.h │ ├── float_slider_property.cpp │ ├── float_slider_property.h │ ├── line_edit_with_slider.cpp │ └── line_edit_with_slider.h ├── rqt_free_gait_action ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── rqt_free_gait_action │ │ ├── Action.h │ │ ├── ActionModel.h │ │ ├── Collection.h │ │ ├── CollectionModel.h │ │ ├── FavoritePushButton.h │ │ ├── FreeGaitActionPlugin.h │ │ ├── WorkerThreadGetCollections.h │ │ ├── WorkerThreadSendAction.h │ │ ├── WorkerThreadSendActionSequence.h │ │ └── WorkerThreadUpdateTrigger.h ├── launch │ └── rqt_free_gait_action.launch ├── package.xml ├── plugin.xml ├── resource │ ├── FreeGaitActionPlugin.ui │ ├── icons │ │ ├── 16x16 │ │ │ └── refresh.svg │ │ └── 22x22 │ │ │ └── refresh.svg │ └── resources.qrc ├── scripts │ └── rqt_free_gait_action ├── setup.py └── src │ └── rqt_free_gait_action │ ├── Action.cpp │ ├── ActionModel.cpp │ ├── Collection.cpp │ ├── CollectionModel.cpp │ ├── FavoritePushButton.cpp │ ├── FreeGaitActionPlugin.cpp │ ├── WorkerThreadGetCollections.cpp │ ├── WorkerThreadSendAction.cpp │ ├── WorkerThreadSendActionSequence.cpp │ └── WorkerThreadUpdateTrigger.cpp └── rqt_free_gait_monitor ├── CHANGELOG.rst ├── CMakeLists.txt ├── include └── rqt_free_gait_monitor │ ├── CircularBuffer.h │ ├── ClickableLabel.h │ ├── FreeGaitMonitorPlugin.h │ ├── WorkerThreadPausePlay.h │ └── WorkerThreadStop.h ├── launch └── rqt_free_gait_monitor.launch ├── package.xml ├── plugin.xml ├── resource ├── FreeGaitMonitorPlugin.ui ├── icons │ ├── 16x16 │ │ ├── collapse.svg │ │ ├── delete.svg │ │ ├── done.svg │ │ ├── expand.svg │ │ ├── failed.svg │ │ ├── go-bottom.svg │ │ ├── go-down.svg │ │ ├── go-top.svg │ │ ├── go-up.svg │ │ ├── pause.svg │ │ ├── play.svg │ │ ├── stop.svg │ │ ├── unknown.svg │ │ └── warning.svg │ └── 22x22 │ │ ├── done.svg │ │ ├── failed.svg │ │ ├── pause.svg │ │ ├── play.svg │ │ ├── stop.svg │ │ ├── unknown.svg │ │ └── warning.svg └── resources.qrc ├── scripts └── rqt_free_gait_monitor ├── setup.py └── src └── rqt_free_gait_monitor ├── CircularBuffer.cpp ├── ClickableLabel.cpp ├── FreeGaitMonitorPlugin.cpp ├── WorkerThreadPausePlay.cpp └── WorkerThreadStop.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/free_gait/HEAD/.gitignore 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