[WIP] Add feet acceleration

robotology / unicycle-footstep-planner

Repository for the Unicycle-based FootStep Planner.

BSD 3-Clause "New" or "Revised" License

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Closed GiulioRomualdi closed 5 years ago

GiulioRomualdi commented 5 years ago

This PR adds the feet trajectory acceleration (both for cubic spline and minimum jerk)

Before merging I would like to port RPYRightTrivializedSecondDerivative() method in iDynTree.

GiulioRomualdi commented 5 years ago

This PR implemented methods that are:

useless (#21)
already implemented in iDynTree (https://github.com/robotology/idyntree/pull/542)

So I will close the PR and I will open a new one