This is the calculation on foot step planner(pf) in the code, along x direction, I think it is as same as the equation in the paper(picture 2), but along Y direction there is a dtMPC multiply in the equation as the picture show below(picture 1), but according to the paper, Psymmetry dose not need to multiply the dtMPC, I do not understand, who knows why?
This is the calculation on foot step planner(pf) in the code, along x direction, I think it is as same as the equation in the paper(picture 2), but along Y direction there is a dtMPC multiply in the equation as the picture show below(picture 1), but according to the paper, Psymmetry dose not need to multiply the dtMPC, I do not understand, who knows why?