Fix DCM trajectory generation of the last double support phase

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 fixes the bug described in #25.
In details:

the DCM position at the end of the last SS phase is now equal to the ZMP position
the initial velocity of the last double support trajectory is now evaluated by using the last single support trajectory.

With this PR	Without this PR

@prashanthr05 @MiladShafiee @lia2790