BipedalLocomotion::Planners::UnicycleTrajectoryGeneratorInput struct
#include <BipedalLocomotion/Planners/UnicycleTrajectoryGenerator.h>

Public static functions

static auto generateDummyUnicycleTrajectoryGeneratorInput() -> UnicycleTrajectoryGeneratorInput

Public variables

Eigen::VectorXd plannerInput
UnicycleTrajectoryPlannerInput implements the input to the planner.

Variable documentation

Eigen::VectorXd BipedalLocomotion::Planners::UnicycleTrajectoryGeneratorInput::plannerInput

UnicycleTrajectoryPlannerInput implements the input to the planner.

Depending on the type of unicycle controller used the plannerInput is a 2d-vector or a 3d-vector. For instance, if unicycle controller is set to UnicycleController::PERSON_FOLLOWING, the plannerInput is a vector of size 2 that represents a reference position (i.e., [x, y]). Instead, if it is set to UnicycleController::DIRECT, the plannerInput is a vector of size 3 that representes a velocity command (i.e., [xdot, ydot, wz]). Input to the unicycle planner