Footstep Planner

The footstep planner tells Valkyrie where to put her feet in order to walk somewhere. 

The footstep path is created using Marcelino's Spline. It creates a minimum jerk trajectory between the endpoints.

The program populates footstep locations on either side of the spline by transforming the velocity 90 degrees and placing it a set distance away in that direction.

The user can then manually edit the footstep position if desired.