implemented bipedal walking

[takayuki5168]

Sorry for postpone another my PR(#162)

I implemented bipedal walking with 3D Inverted Pendulum. How do you like this bipedal planner.

This time I put animation.gif, so I understand what I have to do next is doc.

[takayuki5168]

also I have to moidfy README.md.

[coveralls]

Pull Request Test Coverage Report for Build 725

• 0 of 0 changed or added relevant lines in 0 files are covered.
• 4 unchanged lines in 1 file lost coverage.
• Overall coverage increased (+0.4%) to 83.795%

---

Files with Coverage Reduction	New Missed Lines	%
PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py	4	87.26%

Totals
Change from base Build 717:	0.4%
Covered Lines:	6691
Relevant Lines:	7985

---

💛 - Coveralls

[AtsushiSakai]

This pull request introduces 3 alerts when merging 408d6f0 into bb8b8b3 - view on LGTM.com

new alerts:

• 2 for Nested loops with same variable
• 1 for Testing equality to None

---

Comment posted by LGTM.com

[AtsushiSakai]

@takayuki5168 Hi. Thank you again. Cool. I love your bipedal animation.

[AtsushiSakai]

@takayuki5168
I have some requests.

1. It is possible to add another leg line in the animation?
   I suppose the green line is the control target leg, right?
   So, if another leg is added, the animation looks bipedal simulation more.
   What do you think about it?

[AtsushiSakai]

@takayuki5168
2. Please fix LGTM errors. see reviews.

[AtsushiSakai]

@takayuki5168 3. As you said, adding technical doc and updating README is better.

[takayuki5168]

@AtsushiSakai

1. Yes, green line is approximately the support leg (control target leg). But it is approximation like this. So exactly, green leg is not support leg, but a line connected between CoM(center of mass) and a support leg foot.

Also, in this bipedal algorithm with inverted pendulum, the free leg is not considered. Only the support leg is considered.

So it may be infeasible to display the free leg. I think current animation.gif is good to visualize what this planner is doing.

[takayuki5168]

2. Thanks. I fixed it.

3. I updated README.md. Of course I will also write doc, but it will be late because my business.

[AtsushiSakai]

@takayuki5168 Thank you for quick reply.

it may be infeasible to display the free leg.

OK. I see. So, the current gif is OK.

Thanks. I fixed it.

Thanks.

but it will be late because my business.

OK. I will merge it now, so if you have a time to write the doc, please make another PR.

I appreciate your great PR. Thank!!

[takayuki5168]

OK, thanks too!