File	Date	Author	Commit
CMake_Modules	2013-02-26	Kirill Van Heerden	[ab7351] A* footplaner stub added, small fixup
Include	2013-02-27	Kirill Van Heerden	[0bd9eb] foot rise height added to Robot::MakeLeg2WorldT...
TestApplication	2013-02-07	Kirill Van Heerden	[076cad] version 0.4: working COM inverse kinematics and...
TestSuiteFiles	2013-02-27	Kirill Van Heerden	[0bd9eb] foot rise height added to Robot::MakeLeg2WorldT...
src	2013-02-27	Kirill Van Heerden	[0bd9eb] foot rise height added to Robot::MakeLeg2WorldT...
AUTHORS.txt	2012-06-05	Kirill Van Heerden	[27f24f] Hardware specific optimization script from the ...
CMakeLists.txt	2013-02-26	Kirill Van Heerden	[ab7351] A* footplaner stub added, small fixup
Doxyfile	2013-02-26	Kirill Van Heerden	[5c0d5a] implemented stub A* footplacer
GPL.txt	2012-03-25	unknown	[00bcd0] first commit
README.txt	2013-02-07	Kirill Van Heerden	[076cad] version 0.4: working COM inverse kinematics and...

Read Me

README
--------

Dependencies and Credits:
------------                    Matrix Library                  ------------------------
        This library uses the Eigen matrix library (http://eigen.tuxfamily.org)
        
------------                    Path Planning                   ------------------------
        This library uses a MODIFIED version of the "MicroPather" code originally developed by Lee Thomason(micropather.h && micropather.cxx). The original version can be found at http://grinninglizard.com/MicroPather/ and http://sourceforge.net/projects/micropather/
        
------------   CPU specific optimization(i.e SSE) cmake script   ------------------------
        This library uses some cmake optimization scripts(FindSSE.cmake, OptimizeForArchitecture.cmake, AddCompilerFlag.cmake?, AddTargetProperty.cmake>) to enable cpu specific optimizations like SSE. These scripts were originally developed by Matthias Kretz  and can be found at http://gitorious.org/vc/vc/trees/master/cmake. They also use some BSD licensed scripts by different authors (MacroEnsureVersion.cmake, CheckCXXCompilerFlag.cmake, CheckCCompilerFlag.cmake). 
------------           Linear Algebra routines                   ------------------------
        This library makes use of LAPACK for some of the linear algebra routines not yet provided in Eigen.
------------                 Documentation                       ------------------------        
        This library uses DOXYGEN to generate documentation from source code. Credits to Stefan Majewsky from the "The Geek Shall Inherit The Earth" blog (https://majewsky.wordpress.com/2010/08/14/tip-of-the-day-cmake-and-doxygen) for the CMake script that integrates
        DOXYGEN with CMake

Description:
A library for bipedal robot locomotion.

License:
Commercial license for a price(open to negotiations, contact me for details), GPL license for anyone who accepts its terms.

Intentions and Vision:
To extend this library to humanoid robots by methods for manipulating objects with robotic arms. To extend biped locomotion to stairs and rough terrain. To integrate path planning, ultimately this will allow the library to provide use a provided environmental map as  and accept 'go to' commands as input(then automatically do all the necessary robot control tasks).
I am open to the idea of co-developing this software with others and also sharing the profits from commercial license sales in a fair manner(i.e if 20% of the code is written by you then you should get 20% of the profits, contact me to negotiate)


Main authors contact information:
			Name : Kirill Van Heerden
			Email: kirill.vanheerden@gmail.com