BipedalLocomotion::Planners::SwingFootPlannerState struct
#include <BipedalLocomotion/Planners/SwingFootPlanner.h>

SwingFootPlannerState 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

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