add the rotational constraint.
add a guess on the initial condition for the lineariation.
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- src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp 78 additions, 13 deletionssrc/ZMPRefTrajectoryGeneration/nmpc_generator.cpp
- src/ZMPRefTrajectoryGeneration/nmpc_generator.hh 1 addition, 0 deletionssrc/ZMPRefTrajectoryGeneration/nmpc_generator.hh
- tests/TestNaveau2015.cpp 3 additions, 3 deletionstests/TestNaveau2015.cpp
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