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
std::chrono::nanoseconds time
< If true the link is in contact with the environment

Variable documentation

std::chrono::nanoseconds BipedalLocomotion::Planners::SwingFootPlannerState::time

< If true the link is in contact with the environment

Time associated to the planned trajectory