struct
SwingFootPlannerStateSwingFootPlannerState describes the state of Swing foot planner.
Public variables
- manif::SE3d transform
- Homogeneous transform between the link and the inertial frame.
- manif::SE3d::Tangent mixedVelocity
- 6D-velocity written in mixed representation
- manif::SE3d::Tangent mixedAcceleration
- 6D-acceleration written in mixed representation
- bool isInContact
- std::chrono::nanoseconds time
- < If true the link is in contact with the environment
Variable documentation
std::chrono::nanoseconds BipedalLocomotion:: Planners:: SwingFootPlannerState:: time
< If true the link is in contact with the environment
Time associated to the planned trajectory