fix bipedal_planner and add its test (#332)

tests/test_bipedal_planner.py

@@ -0,0 +1,24 @@
+from unittest import TestCase
+
+import sys
+sys.path.append("./Bipedal/bipedal_planner/")
+try:
+    from Bipedal.bipedal_planner import bipedal_planner as m
+except Exception:
+    raise
+
+print(__file__)
+
+
+class Test(TestCase):
+
+    def test(self):
+        bipedal_planner = m.BipedalPlanner()
+
+        footsteps = [[0.0, 0.2, 0.0],
+                     [0.3, 0.2, 0.0],
+                     [0.3, 0.2, 0.2],
+                     [0.3, 0.2, 0.2],
+                     [0.0, 0.2, 0.2]]
+        bipedal_planner.set_ref_footsteps(footsteps)
+        bipedal_planner.walk(plot=False)