I have tried to align the timing of the dynamic optimiser to those of the kinematic optimiser and swing foot trajectory generator. Now, timings are read from the dynamic optimiser (rather than config file), so if the dynamic optimiser changes the timings of the phases, the swing foot and kinematic would be adapted as well.
I also adapted the kinematic optimiser (only first order for now) such that the momentum is not changed in the air phase. Now it is harder to make demos with flight phase work, because the kinematic optimiser is more realistic.
I also updated a bit the dynamic optimiser, making sure that the applied forces are aligned with the momentum change.
The only thing that seems crucial to me to be done is to run the kinematic optimiser at 1KHz rather than with the same frequency of the dynamic planner, especially for motions with flight phase it will help a lot. I will look into this in a near future...
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