Why not model the path of a swinging foot with just one polynomial? about towr HOT 2 CLOSED

Hi Henrique! yes, sure. For instance considering the polynomial describing the foot z (height) position: we want the foot to lift, fulfill possibly some position constraint of maximum swing height and then lower back to the ground. All while approaching zero velocity at takeoff and landing. There are just not enough DoFs in a third order polynomial for that. The xy-motion of the swing might very well be describable with a single polynomial, but was just easier and cleaner to implement using multiple polynomials here as well. Hope this makes it clearer👍

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It is very clear now. Thank you! 🙂

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