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robotology / unicycle-footstep-planner

Repository for the Unicycle-based FootStep Planner.
BSD 3-Clause "New" or "Revised" License
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Merge the dcmTrajectoryGenerator branch #14

Closed S-Dafarra closed 5 years ago

S-Dafarra commented 6 years ago

Currently there are two different branches which make use of two different interpolation techniques, depending whether the ZMP or the DCM is generated. The aim of this issue is to list the possible incongruities between the two versions and to define the steps to take in order to merge them together.

cc @GiulioRomualdi

S-Dafarra commented 6 years ago

After https://github.com/robotology/unicycle-footstep-planner/pull/15 it should be easier to add it. Yet the dcmTrajectoryGenerator needs to be modified.

S-Dafarra commented 5 years ago

Added with https://github.com/robotology/unicycle-footstep-planner/pull/17