Source Code Structure
==================

You can find the source code at `GitHub <https://github.com/TopHillRobotics/quadruped-robot/>`_, including five major directories.

* **demo** has many demo examples to help users understand the software usage and the project architecture itself.
* **extern** contains the third-party dependencies to successfully compile and run the code.
* **navigation** contains the codes for SLAM and navigation.
* **quadruped** contains the core modules defining robots, state, planner, dynamics and supporting algorithms.
* **simulation** contains the configuration to run demos in simulation.