This package provides a C++ interface only which is independent from ROS. See walk_msgs for the ROS interface.

Optionally, this interface provides a way to serialize/unserialize data using YAML. The format is documented on the YAML page.

Writing your own pattern generator

To write your own pattern generator, inherit from the PatternGenerator class and implements the virtual computeTrajectories method. Examples of pattern generator can be found in this package tests suites (the tests directory) or in halfsteps_pattern_generator.