Biped Footstep Planner
Author: Keliang He khe1@swarthmore.edu
GUI code: Matt Zucker mzucker1@swarthmore.edu
Building
This project requires cmake, libpng, and GLUT. To build:
mkdir build
cd build
ln -s ../maps maps
cmake .. -DCMAKE_BUILD_TYPE=Release
make
Running bipedDemo
The bipedDemo executable is a GUI-based sandbox to run the planning
software. It requires one command-line argument, the name of the map
to use, for instance:
./bipedDemo ./maps/nsh-detail.png
On Mac OS X, you instead must run
./bipedDemo.app/Contents/MacOS/bipedDemo ./maps/nsh-detail.png
Press ? for help after the demo loads.
Running bipedPlan
The bipedPlan executable is a standalone command-line
application. Example queries are in file query.txt. For instance:
./bipedPlan ./maps/circles.png 8 24 1.57 120 110 3 1000 40 1 1
The output file DebugImage.svg will show the planned steps,
Heuristic.svg will show the heuristic used.