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The pRobotFrame in ConvexMPCLocomotion.cpp #72

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xzbreeze opened this issue Jul 31, 2021 · 0 comments
Open

The pRobotFrame in ConvexMPCLocomotion.cpp #72

xzbreeze opened this issue Jul 31, 2021 · 0 comments

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@xzbreeze
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Hi,

In line 261 "coordinateRotation(CoordinateAxis::Z, -_yaw_turn_rate* stance_time / 2) * pRobotFrame", why it is stance_time /2?
In the following lines, "des_vel * swingTimeRemaining[i]" is used to compute linear location? I think swingTimeRemaining should be used to compute yaw.

Thanks,

Zhe
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@xzbreeze