WARNING : work in progress
Developped for Matlab 2012a and more recent
Need Simulink toolbox.
Soft soles stabilizer using a WPG based on deboor bspline and a deformation estimator to take into account soft sole deformation detailed in https://www.researchgate.net/publication/318412580_Optimized_Humanoid_Walking_with_Soft_Soles
In main.m is the WPG built-in as a programming object in matlab. Just RUN => open any WPG_results_OK_* to test stabilizer
matlab compiler option for the deformation estimator:
mex '-IC:\Users\Giovanni\Documents\eigen-eigen-1306d75b4a21\eigen-eigen-1306d75b4a21' Simulation_3D\splineBasis.cpp
mex '-IC:\Users\Giovanni\Documents\eigen-eigen-1306d75b4a21\eigen-eigen-1306d75b4a21' GaussFtotZMP.cpp Gausstot.cpp
In \fsqp : mex mexfsqp.c cfsqp.c qld.c