struct
UnicycleTrajectoryPlannerParameters
Public variables
- std::chrono::nanoseconds dt
- Sampling time of the planner.
- std::chrono::nanoseconds plannerHorizon
- Time horizon of the planner.
- std::chrono::nanoseconds minStepDuration
- Time minimum time duration of a step.
- double leftYawDeltaInRad
- Left foot cartesian offset in the yaw.
- double rightYawDeltaInRad
- Right foot cartesian offset in the yaw.
- Eigen::Vector2d referencePointDistance
- Reference position of the unicycle controller.
- double nominalWidth
- Nominal feet distance.
- int leftContactFrameIndex
- Index of the left foot contact frame.
- std::string leftContactFrameName
- Name of the left foot contact frame.
- int rightContactFrameIndex
- Index of the right foot contact frame.
- std::string rightContactFrameName
- Name of the right foot contact frame.