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CtJSの修正とカーブ歩行動作が可能な実装 #35

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Yusuke-Yamasaki-555 opened this issue Mar 28, 2024 · 2 comments
Open

CtJSの修正とカーブ歩行動作が可能な実装 #35

Yusuke-Yamasaki-555 opened this issue Mar 28, 2024 · 2 comments

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@Yusuke-Yamasaki-555
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@Yusuke-Yamasaki-555
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冗長なコードの修正をしたい。

冗長なコードはFSPとWPGに依存した問題だと思う。WPGに両脚支持期間を適用して、着地位置と重心位置をどちらもロボットのローカル座標系にできれば、もっと簡素に簡単にできる。

@Yusuke-Yamasaki-555
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まず、着地位置をローカル座標系に変更するべき。
で、次に、WPGで両脚支持期間を設ける（CtJSでやっているやつをやめて、WPGに適用する）。
最後に、CtJSのリファクタリングを行う。

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@Yusuke-Yamasaki-555