struct
MANNTrajectoryGeneratorOutputOutput of the trajectory planner.
Public variables
- std::vector<Eigen::Vector3d> comTrajectory
- CoM trajectory expressed in the inertial frame.
- std::vector<Eigen::Vector3d> angularMomentumTrajectory
- Centroidal angular momentum trajectory expressed in the mixed representation.
- std::vector<Eigen::VectorXd> jointPositions
- Joints position in radians.
- std::vector<manif::SE3d> basePoses
- Vector containing the base pose for each instant.
-
Contacts::
ContactPhaseList phaseList - List of the contact phases.