FInish exercise 3 and add a figure.

3b466f4b · Florent Lamiraux · Florent Lamiraux florent@laas.fr · 1c572f8b · 3b466f4b · 3b466f4b
Commit 3b466f4b authored Jan 07, 2020 by Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr Jan 07, 2020
--- a/instructions/exercise-3.asciidoc
+++ b/instructions/exercise-3.asciidoc
@@ -16,4 +16,8 @@ such a way that
 * when the robot is in double contact, the center of mass is above the line
  segment linking the two foot centers.

-We assume that the center of mass is at the origin of the trunc.
\ No newline at end of file
+We assume that the center of mass is at the origin of the trunc.
+
+Trajectories will be represented by polynomial splines. The coefficients of the splines are unknown. They are computed by solving a linear system of equations obtained by expressing the boundary constraints of the trajectories.
+
+image::figures/walk-trajectory.svg[width="100%",alt="walk trajectories"]
\ No newline at end of file
--- a/instructions/exercise-3.html
+++ b/instructions/exercise-3.html
+<?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN"
    "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en">
 <head>
 <meta http-equiv="Content-Type" content="application/xhtml+xml; charset=UTF-8" />
-<meta name="generator" content="AsciiDoc 8.6.9" />
+<meta name="generator" content="AsciiDoc 8.6.10" />
 <title>Walk motion</title>
 <style type="text/css">
 /* Shared CSS for AsciiDoc xhtml11 and html5 backends */
@@ -771,6 +772,12 @@ when the robot is in double contact, the center of mass is above the line
 </li>
 </ul></div>
 <div class="paragraph"><p>We assume that the center of mass is at the origin of the trunc.</p></div>
+<div class="paragraph"><p>Trajectories will be represented by polynomial splines. The coefficients of the splines are unknown. They are computed by solving a linear system of equations obtained by expressing the boundary constraints of the trajectories.</p></div>
+<div class="imageblock">
+<div class="content">
+<img src="figures/walk-trajectory.svg" alt="walk trajectories" width="100%" />
+</div>
+</div>
 </div>
 </div>
 </div>
@@ -778,7 +785,7 @@ when the robot is in double contact, the center of mass is above the line
 <div id="footer">
 <div id="footer-text">
 Last updated
- 2019-11-29 14:49:08 CET
+ 2020-01-07 14:10:52 CET
 </div>
 </div>
 </body>

--- a/instructions/figures/walk-trajectory.svg
+++ b/instructions/figures/walk-trajectory.svg