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echandler5956f / Galileo

A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems
MIT License
57 stars 5 forks source link

Solutions can only be found if initial and final modes are stance phase #88

Closed Akshay5312 closed 7 months ago

Akshay5312 commented 7 months ago

If the start or end modes are flight phase, there is no way to tell how much of the "ideal footstep" has been traversed.

We need to add a desired touchdown time for each end effector in flight phase at the end of the horizon, and a liftoff time for end effectors that start in flight phase.