Are there a document about Walking?

[xxchenchen]

Hi
Are there a document about Walking.cpp?

For example,
what is ep?
ep[0] = x_swap + x_move_r + m_X_Offset;
ep[1] = y_swap + y_move_r - m_Y_Offset / 2;
ep[2] = z_swap + z_move_r + m_Z_Offset;
ep[3] = a_swap + a_move_r - m_R_Offset / 2;
ep[4] = b_swap + b_move_r + m_P_Offset;
ep[5] = c_swap + c_move_r - m_A_Offset / 2;
ep[6] = x_swap + x_move_l + m_X_Offset;
ep[7] = y_swap + y_move_l + m_Y_Offset / 2;
ep[8] = z_swap + z_move_l + m_Z_Offset;
ep[9] = a_swap + a_move_l + m_R_Offset / 2;
ep[10] = b_swap + b_move_l + m_P_Offset;
ep[11] = c_swap + c_move_l + m_A_Offset / 2;

[kdaun]

Unfortunately, there is no documentation.

[xxchenchen]

What is the name of method? Thanks