Walking engine tidying #1810
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Walking engine tidying #1810
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schluis
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the
is:Refactoring
oleflb
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Mar 26, 2025
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| left_sole_to_robot: linear_algebra::Transform<LeftSole, Robot, Isometry3<f32>>, | ||
| right_sole_to_robot: linear_algebra::Transform<RightSole, Robot, Isometry3<f32>>, | ||
| ) -> LowerBodyJoints<f32> { | ||
| let left_foot: Pose3<LeftSole> = | ||
| linear_algebra::Isometry3::from(RobotDimensions::LEFT_ANKLE_TO_LEFT_SOLE) | ||
| .inverse() | ||
| .as_pose(); | ||
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| let right_foot: Pose3<RightSole> = | ||
| linear_algebra::Isometry3::from(RobotDimensions::RIGHT_ANKLE_TO_RIGHT_SOLE) | ||
| .inverse() | ||
| .as_pose(); | ||
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| let left_foot = left_sole_to_robot * left_foot; | ||
| let right_foot = right_sole_to_robot * right_foot; | ||
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I don't understand why this is nicer than before, can you elaborate on that?
| ) | ||
| }; | ||
| let (backward_acceleration, forward_acceleration) = | ||
| if last_requested_step.forward > f32::EPSILON { |
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What is the motivation for this change?
|
I discussed these changes with @schluis a few days ago. This PR is still in progress and should not be merged in the current state. Moving back to in progress |
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Why? What?
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