Restructure the SwingFootPlanner, the Contact component and the CentroidalMPCOutput #721
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…but: - We need to double check the dT in SwingFootPlanner setContactList - The arms move in a weired way probably this is due to the hight of the CoM - we hardcoded the forward step scaling in MANNTrajectoryGenerator.cpp to half the step size
- add Current time as output of the planner - Update the logic behind the setContactList, updateSE3Traj and createSE3Traj in the planner
This was required to overcome a bug in the SwingFootPlanner when a new contact is established and teh contact phase list is updated. This is not the correct way to fix the bug We noticed that contact name was 'ContactList' instead of left or right foot
…n the CentroidalMPC
…NNAutoregressive and MANNTrajectoryGenerator - Need to double check how the mergePointState scaled previous information are propagated - Need to double check how the com is resetted in MANNAutoregressive::reset - The CoM is currently scaled on its motion direction as the footsteps but we need to check if this is correct
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This PR has been split into the following PRs:
Given that we can close this PR without merge it |
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