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Trajectory Planner only uses single latest state for transforming desired position into body frame #76

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LouKordos opened this issue Apr 9, 2021 · 1 comment
Open

Trajectory Planner only uses single latest state for transforming desired position into body frame #76

LouKordos opened this issue Apr 9, 2021 · 1 comment
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bug Something isn't working
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Reliable Walking ...

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@LouKordos
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When calling the update_foot_trajectory function, only one (the latest received) state is passed. This state is used for transforming future world positions into the body frame, so using a predicted state from that point in time is more reasonable. This applies to foot_pos_desired_body_frame and step_height_body.
@LouKordos LouKordos added the bug Something isn't working label Apr 9, 2021
@LouKordos LouKordos self-assigned this Apr 9, 2021
@LouKordos
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For touchdown state, just extend next_body_vel to be the full state and pass that vector.

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Reliable Walking in Gazebo Bullet
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