BipedalLocomotion::Planners::UnicycleTrajectoryGeneratorParameters struct

#include <BipedalLocomotion/Planners/UnicycleTrajectoryGenerator.h>

Public variables

std::chrono::nanoseconds dt

Sampling time of the planner.

size_t plannerAdvanceTimeSteps

Number of time steps that the planner should be called in advance.

int leftContactFrameIndex

Index of the left contact frame.

int rightContactFrameIndex

Index of the right contact frame.