BipedalLocomotion::Planners::UnicycleTrajectoryPlannerParameters struct

#include <BipedalLocomotion/Planners/UnicycleTrajectoryPlanner.h>

Public variables

std::chrono::nanoseconds dt

Sampling time of the planner.

std::chrono::nanoseconds plannerHorizon

Time horizon of the planner.

std::chrono::nanoseconds minStepDuration

Time minimum time duration of a step.

double leftYawDeltaInRad

Left foot cartesian offset in the yaw.

double rightYawDeltaInRad

Right foot cartesian offset in the yaw.

Eigen::Vector2d referencePointDistance

Reference position of the unicycle controller.

double nominalWidth

Nominal feet distance.

int leftContactFrameIndex

Index of the left foot contact frame.

std::string leftContactFrameName

Name of the left foot contact frame.

int rightContactFrameIndex

Index of the right foot contact frame.

std::string rightContactFrameName

Name of the right foot contact frame.