add UnicyclePlanner unit test #815
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Disable the saving of the data by default Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>
Formatting update Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>
Correct tolerance for rotation difference
GiulioRomualdi
approved these changes
Mar 4, 2024
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While using the unicycle planner with the
centroidal mpcclient app. Initially i was using the planner inrobotology, then realized that the planner was added to bipedal (with some modifications).Trying to understand its structure, i typically rely on the unit tests codes and I realized there is not a unit test code for the UnicyclePlanner class. I am not sure if that omission is by design, but in case it is not, I added a unit test. Feel free to discard or merge.