As can be seen in the following plot the trajectory of the last DS phase as a discontinuous velocity.
The bug is caused by the assumption of zero velocity as initial condition for the last DS trajectory. Indeed the initial velocity should be evaluated using the DCM velocity produced by the last single support phase.
As can be seen in the following plot the trajectory of the last DS phase as a discontinuous velocity.
The bug is caused by the assumption of zero velocity as initial condition for the last DS trajectory. Indeed the initial velocity should be evaluated using the DCM velocity produced by the last single support phase.
https://github.com/robotology/unicycle-footstep-planner/blob/d8a099f5685d23887a4dd5f8bfb25ce291f53079/src/DCMTrajectoryGeneratorHelper.cpp#L523-L524
I can prepare the PR that fixes the bug
cc @S-Dafarra