I learned the planning method at the control level in the flatness.pdf of this project. However, the flatness.cpp lacks important parameters, such as moment of inertia, etc. I want to know if these parameters are intentionally ignored or if they are nested as constants in the code. If so, how can I manually input these variables. Thanks.
I learned the planning method at the control level in the
flatness.pdfof this project. However, theflatness.cpplacks important parameters, such as moment of inertia, etc. I want to know if these parameters are intentionally ignored or if they are nested as constants in the code. If so, how can I manually input these variables. Thanks.