METAPOD - Template META-PrOgramming applied to Dynamics: CoP-CoM trajectories filtering
|Title||METAPOD - Template META-PrOgramming applied to Dynamics: CoP-CoM trajectories filtering|
|Publication Type||Conference Paper|
|Year of Publication||2014|
|Authors||Naveau, M, Carpentier, J, Bathelemy, S, Stasse, O, Soueres, P|
|Conference Name||IEEE/RAS International Conference on Humanoid Robot (ICHR)|
In this contribution, Metapod, a novel C++ library computing efficiently dynamic algorithms is presented. It uses template-programming techniques together with codegeneration. The achieved performances shows a clear advantage over the state-of-the art dynamic library RBDL. The advantage of this library is that it is open-source and does not rely on any external symbolic computational software. Additionnaly we show how it can help in current control problems for humanoid robots, and more specifically for dynamic filtering of walking gait trajectories.