To run this program, you need to:

1. Download Eigen Library.

2. Add this package into additinal include directrise,for example: ....\eigen; ....\header

3. Stucture of the program

• /include: header files for this program.

  "MatrixVector.h": user defined matrix based on Eigen library

  "LIPMDynClass.h": key function based on Linear inverted pendulum (LIP) model;

  Optional:

  "AlexFilterClass.h" and "FilterClass.h": Filter file for filtering noise;

• /src: source files for this program.

  "MatrixVector.cpp": user defined matrix based on Eigen library

  "LIPMDynClass.cpp": a class contains key function based on Linear inverted pendulum (LIP) model.

  "LIPMLateralGait.cpp": main function of the simulation of lateral CoM motion and foot placment based on LIP model

  Optional:

  "AlexFilterClass.cpp" and "FilterClass.cpp": Filter file for filtering noise;

• • Most of these are include in LIPMDynClass, ignore them unless you are interested to understand individual function. LateralGaitStop.cpp

    LIPMLateralFP.cpp

    LIPM3D.cpp

    CheckLateralGaitSwitch.cpp

    LIPMDyn.cpp

• /data: folder to save the log out data, temporary called as "LateralGait.txt"

  "checkLateralGait.m": Matlab file to read "LateralGait.txt" and plot the data