Constraints for each waypoints
Created by: arntanguy
I am looking into using this library to control the swing foot trajectory of a humanoid robot walk. Our MPC is continuously computing new desired footstep position as the robot is stepping, and thus the trajectory needs to be updated continuously by taking into account:
- The starting pose (position/orientation) of the swing foot trajectory: fixed with zero initial velocity
- The ending pose: always changing, desired to be reached with zero velocity
- A mid-point between the starting position and end position at a given height: also changing since the end point is changing
From looking at the API, it seems that it is only possible to enforce constraints on the starting and end-point of a trajectory, but not on its intermediary waypoints. In my case, I would need to recompute the whole trajectory as the robot is stepping by taking into account the new current foot position, and expected desired footstep (end-point for the trajectory).
Is it possible to achieve this behaviour?