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.