Reduction of DCM jumps when changing reference from an "almost" still configuration

robotology / unicycle-footstep-planner

Repository for the Unicycle-based FootStep Planner.

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

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Closed S-Dafarra closed 8 months ago

S-Dafarra commented 8 months ago

This PR mitigates the jumps on the robot when changing references with the robot not completely still