struct
UnicyclePlannerInput
Constructors, destructors, conversion operators
-
UnicyclePlannerInput(const std::vector<UnicycleKnot>& _knots,
const double _tf = 0.0,
const std::optional<Contacts::
PlannedContact>& _initialLeftContact = {}, const std::optional<Contacts:: PlannedContact>& _initialRightContact = {}, const double _t0 = 0.0)
Public variables
- double t0
- The beginning of the planner horizon.
- double tf
- The end of the planner horizon.
-
std::optional<Contacts::
PlannedContact> initialLeftContact - Left contact initialization.
-
std::optional<Contacts::
PlannedContact> initialRightContact - Right contact initialization.
- std::vector<UnicycleKnot> knots
- A list of knots.