mit-biomimetics / Cheetah-Software

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Why there is a dtMPC calculated in pfy_rel? #62

Closed Derek-TH-Wang closed 3 years ago

Derek-TH-Wang commented 4 years ago

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?

image

image

YuXianYuan commented 4 years ago

small mistake