libvwpg

Visual Walking Pattern Generation library, that uses homography based control for the walking pattern generation of a humanoid robot.

In order to compile this code two external dependencies should be installed: eigen and

First, compile qpOases with CMake:

> cd qpOASES/
> mkdir bin
> make

Then compile the libvwpg library. From the libvwpg directory:

> mkdir build
> cd build
> cmake ..
> make

To run the test file:

> ./bin/test1 <file.ini>

INI files are used to define the parameters for the simulation. There are multiple files included in this package in the working_configs directory.

Once the execution runs, you should redirect the standard output to a .txt file.

> ./bin/test1 <file.ini>    > <log_file.txt>

Then, to plot the results use the plot_results.py script as follows:

> python ../tools/plot_results.py <log_file.txt>

To run the example QPHomoTest.py of python, in the python_binding directory:

>python QPHomoTest.py <file.ini> > <log_file.txt>

Then, to plot the results use the plot_results.py script as follows:

> python ../tools/plot_results.py <log_file.txt>