added gradually smaller footsteps at end of trajectory
added small steps
commented modifications and added patch script
Merge branches 'master' and 'pete' into pete
continuous keyboard input for forward/backward/sidestep, UNTESTED
rewrote patch script
added keyboard input
modifying things to create zmp-daemon
creating zmp-daemon
added walking state passing over ach
semi-working untested keyboard continuous walking
getting weird Eigen/src/StlSupport/details.h error from gait-timer.h
complies, but not putting over ach
still can't get ach to put
ready to try zmp-daemon on Hubo without sending controls
added invalid key handling
got rid of discontinuity, ready to validate with walker
forward walking working with walker.cpp, but needs sidestepping and backwards without canned
added instructions and setup and run scripts
Beginning daemonization and interfacing