made foot_pitch constant again and not dependend on step length

bit-bots · Nov 18, 2024 · ed11536 · ed11536
1 parent 2383801
commit ed11536
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp b/bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp
@@ -518,8 +518,9 @@ void WalkEngine::buildTrajectories(WalkEngine::TrajectoryType type) {
   foot_spline_.pitch()->addPoint(0.0, foot_orientation_pos_at_last_foot_change_.y(),
                                  foot_orientation_vel_at_last_foot_change_.y(),
                                  foot_orientation_acc_at_foot_change_.y());
-  foot_spline_.pitch()->addPoint(double_support_length, config_.foot_pitch_angle * support_to_next_.getOrigin().x(),
-                                 config_.foot_pitch_acc, 0);
+  foot_spline_.pitch()->addPoint(double_support_length, config_.foot_pitch_angle, config_.foot_pitch_acc, 0);
+  // foot_spline_.pitch()->addPoint(double_support_length, config_.foot_pitch_angle * support_to_next_.getOrigin().x(),
+  //                               config_.foot_pitch_acc, 0);
   // foot_spline_.pitch()->addPoint(double_support_length + single_support_length * config_.foot_apex_phase -
   //                                0.5 * config_.foot_z_pause * single_support_length,
   //                                0.5 * config_.foot_pitch_angle * support_to_next_.getOrigin().x());