search

LouKordos / walking_controller

The main walking controller code for the Bipedal Robot.
13 stars 2 forks source link

Trajectory Planner only uses single latest state for transforming desired position into body frame #76

Open LouKordos opened 3 years ago

LouKordos commented 3 years ago

When calling the update_foot_trajectory function, only one (the latest received) state is passed. This state is used for transforming future world positions into the body frame, so using a predicted state from that point in time is more reasonable. This applies to foot_pos_desired_body_frame and step_height_body.

LouKordos commented 3 years ago

For touchdown state, just extend next_body_vel to be the full state and pass that vector.