This module contains implementation of a walking pattern generator, which
accounts for an external force acting on the CoM. The module was developed
by Joven Agravante during his reasearch on human-robot collaboration.


Directory layout:
    humoto          -- a submodule which links the main repository of Humoto;
    extra_modules   -- a folder with extra modules for Humoto containing wpg03
                       module;
    Makefile        -- compilation script.

The module is compiled with 'make all' command. You can learn the necessary
cmake parameters for Humoto compilation scripts by reading Makefile.

You may find additional documentation in 'extra_modules/wpg03/doc'.