how can I add the CPG(central pattern generator) model into the code?

ethz-adrl / towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

http://wiki.ros.org/towr

BSD 3-Clause "New" or "Revised" License

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how can I add the CPG(central pattern generator) model into the code? #63

Closed hejiayu1 closed 5 years ago

hejiayu1 commented 5 years ago

I want to compare the CPG and model-based approach and behavior-based approach.If I want to add the CPG model,which file should I modify？

awinkler commented 5 years ago

The CPG approach is very different from the Trajectory Optimization implemented by towr, so there is not much overlap of code. That means, unfortunately, a CPG approach cannot be easily implemented here.

hejiayu1 commented 5 years ago

thanks