New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Refactor Phase/WalkCycle/Trajectory #257

Closed

dellaert opened this issue Sep 2, 2021 · 0 comments · Fixed by #278

Assignees

Member

dellaert commented Sep 2, 2021 •

edited

Loading

Currently a Phase/WalkCycle/Trajectory are specifications of intervals. I propose to re-factor in the following way:

A trajectory is a collection of phases (applies to both walking, jumping, rocketry)
A phase is an interval with a ConstraintSpec (e.g., feet on ground, but could be other things)
a new class, FootContactState, is a ConstraintSpec specific to walking
A walk cycle is a vector of FootContactStates, that can spawn phases. Repeatedly spawning phases is a way to create a trajectory.

dellaert self-assigned this

dellaert mentioned this issue

WIP: Refactor trajectory #278

Merged

dellaert closed this as completed in #278

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment