Todo List

Class CCC::DcmTracking

Support three-dimensional motion.

Is it possible to handle continuous ZMP transition during the double support phase?

Class CCC::DdpSingleRigidBody

Support other Euler angles

Class CCC::IntrinsicallyStableMpc::RefData

It is assumed that ZMP limits are independent for the x and y components. This assumption is not valid if the foot is placed diagonally during the single-support phase or if the feet are not aligned during the double-support phase.

Footstep online planning is not supported.

Class CCC::LinearMpcZmp::RefData

It is assumed that ZMP limits are independent for the x and y components. This assumption is not valid if the foot is placed diagonally during the single-support phase or if the feet are not aligned during the double-support phase.

Class CCC::SingularPreviewControlZmp

Footstep online planning is not supported.

Class CCC::StepMpc

It is assumed that the left and right feet alternate in stepping (i.e., the same foot does not step in succession).