BipedalLocomotion::Planners::UnicyclePlannerInput struct
#include <BipedalLocomotion/Planners/UnicyclePlanner.h>

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.

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