Add the possibility to update the contact list in the swing foot trajectory planner #637
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traversaro
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S-Dafarra
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src/Planners/include/BipedalLocomotion/Planners/SwingFootPlanner.h
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…ectory planner. - Avoid to reset the internal time of the SwingFootPlanner when a new ContactList is set - Advance must be called before getOutput() - implement `SwingFootPlanner::setTime()`
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With this PR it will be possible to update the contact list in the
SwingFootTrajectoryPlanner.If the contact list is not empty, we check if it is possible to update the list. Given some limitations of the framework (mainly due to the SO3 trajectory generation) for the time being, we support only the two following cases:
advance()must be called before getting the output@LoreMoretti you can directly use this class along with the MPC you developed 😄 (cc @traversaro)