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Feature/alip calculator modifications #714

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Feature/alip calculator modifications #714

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Goal of this PR is to extract the critical components of Quickster and QFP touchdown calculator ALIP-based calculations into a dedicated ALIP calculator class with static methods that can:

  • Use ALIP dynamics to compute a future state
  • Use ALIP dynamics with Raibert heuristic to form a footstep control law
  • Calculate Raibert heuristic gain/time constant using pole placement
  • Calculate natural frequency (omega) of bipedal pendulum

@stefanfasano stefanfasano self-assigned this Mar 10, 2025
@stefanfasano stefanfasano marked this pull request as ready for review March 20, 2025 22:53
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@Beomyeong Beomyeong Beomyeong approved these changes

@james-p-foster james-p-foster Awaiting requested review from james-p-foster

@rjgriffin42 rjgriffin42 Awaiting requested review from rjgriffin42

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