UnicycleTrajectoryPlannerInput struct
Public types
- struct COMInitialState
Public static functions
Public variables
- Eigen::VectorXd plannerInput
- UnicycleTrajectoryPlannerInput implements the input to the planner.
- DCMInitialState dcmInitialState
- Initial state of the DCM trajectory generator.
- COMInitialState comInitialState
- Initial state of the CoM.
- bool isLeftLastSwinging
- True if the last foot that was swinging is the left one.
- std::chrono::nanoseconds initTime
- Initial time of the trajectory.
- manif::SE3d measuredTransform
- Measured transform of the last foot that touched the floor.
Variable documentation
Eigen::VectorXd BipedalLocomotion::
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
bool BipedalLocomotion::
True if the last foot that was swinging is the left one.
False otherwise.