TrajectoryGeneration Class
Closed this issue · 2 comments
echandler5956f commented
Do we actually need the TrajectoryGeneration class? If so, where does it fit in? Right now, targets can be specified via terminal cost (Phi), and state initial conditions are already handled in TrajectoryOpt.
Akshay5312 commented
Probably not! We still need some sort of (extensible) "problem data" structure that contains information like the mode, ideal footstep trajectory, target and starting configuration to enable generic constraints.
It (preferably) shouldn't have to take a user a lot of effort to set up the problem data.
Currently, we have "GenericProblemData" , so maybe we store initial and target configurations in GenericProblemData and remove TrajectoryGeneration structs?
echandler5956f commented
Done!