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…e/NRI-202_swing_waypoints to develop
* commit '006cb3c9aaf41e97c52e9c864d33a705e056381e':
renaming variable
fix up unit test
make the planning happen in sole frame always - the desired values are then transformed to the control frame in each control tick.
made unit test more exciting (and able to fail) by adding terrain objects that the robot has to step around
added sole z up frame to swing state to be able to make trajectory waypoints independent of toe off angle
switched out array with a RecyclingArrayList and making a full copy when setting a FootstepDataCommand from a FootstapDataMessage
test making sure the rotation bug is fixed
fix bug - there is some logic that needs to be added since now the location of the waypoints depend on the toe off angle
hide visualization consistently when switching between trajectory types
unit test for swing waypoints
transform sole waypoint to foot control frame before planning swing trajectory
fix bug
create pipeline to pass swing trajectory waypoints from the footstep data message to the swing planner
added field and documentation for swing trajectory waypoints inside the footstep data message
added the ability in the swing planner to provide custom waypoints and to plan 3d swing trajectories if neccessary
cleaning up the trajectory types
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