This is a modified version of the software for optimization of centroidal momentum dyanmics (https://git-amd.tuebingen.mpg.de/bponton/timeoptimization) in order to use in HPP (https://github.com/humanoid-path-planner). This module can generate COM trajectory for humanoid robot using time-optimization by pondon's works.
Dependencies
----
The present software depends on several packages which have to be available in Ubuntu 14.04 / 16.04
-Libraries
- Eigen3
- YAML_cpp (sudo apt-get install libyaml-cpp-dev)
-System tools
- CMake (>=2.6)
- pkg-config
- usual compilation tools (GCC/G++, make, etc.)
Install
----
To install this moulde:
1. Install HPP
- see https://github.com/humanoid-path-planner/hpp-doc
2. Install YAML-cpp
```bash
sudo apt-get install libyaml-cpp-dev
```
3. Use CMake to install the library. For instance:
```bash
mkdir$hpp-timeoptimization/build
cd$hpp-timeoptimization/build
cd cmake ..
make install
```
4. (Optional) If you want to use this module in Python
- see https://github.com/ggory15/hpp-timeopt-corba
Inputs & Outputs of Algorithm
----
1. Inputs
robot's mass, robot's initial com, desired contact sequences, (ref) linear and angular momentum (mainly all zeros)
robot's desired com at final state, etc.
2. Outpus
time sequence(especially, timeoptimization mode)
robot's continous com, linear & angular momentum trajectories, etc.
Demo
----
The demo is based on DYROS-RED URDFs. The URDF files can be obtained by https://github.com/ggory15/dyrosred.
Also you could use your robot's URDF file, if you rewrite some lines.