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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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Add the possibility to use a minimum jerk trajectory to generate the first DCM DS phase #53

Closed GiulioRomualdi closed 2 years ago

GiulioRomualdi commented 2 years ago

This PR implements a minimum jerk trajectory for the generation of the first DS phase. The trajectory can be enabled by calling 

dcmGenerator->setFirstDCMTrajectoryMode(FirstDCMTrajectoryMode::FifthOrderPoly);

by default the planner used the third order function, i.e., the original one.

S-Dafarra commented 2 years ago

I would also suggest to bump the version

GiulioRomualdi commented 2 years ago

Hi @S-Dafarra I fixed all the typos in https://github.com/robotology/unicycle-footstep-planner/pull/53/commits/5684a08b7132285579daba125aeaf0efc53fdf50 and I bumped the version in https://github.com/robotology/unicycle-footstep-planner/pull/53/commits/bbbe2dbceecedc2ef362778bed85cb50d73488d5 😃

S-Dafarra commented 2 years ago

Hi @S-Dafarra I fixed all the typos in d4bf606 and I bumped the version in a607742 smiley

Great! Merging as soon as CI passes