BipedalLocomotion::Planners::UnicycleTrajectoryPlannerOutput struct
#include <BipedalLocomotion/Planners/UnicycleTrajectoryPlanner.h>

Derived classes

struct UnicycleTrajectoryGeneratorOutput

Public types

struct COMTrajectory
struct ContactStatus
struct DCMTrajectory
struct FootTrajectory
struct Steps

Public variables

COMTrajectory comTrajectory: CoM trajectory.
DCMTrajectory dcmTrajectory: DCM trajectory.
ContactStatus contactStatus: Contact status of the feet.
Steps steps: List of steps and their phases.
FootTrajectory leftFootTrajectory: Left foot trajectory.
FootTrajectory rightFootTrajectory: Right foot trajectory.
std::vector<size_t> mergePoints: Indexes of the merge points of the trajectory.

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