linear proportional pitch and increased pitch range to 5

Author: LievenPetersen

bitbots_motion/bitbots_quintic_walk/src/parameters.yaml

@@ -112,7 +112,7 @@ walking:
       type: double
       description: "Foot pitch angle before toe-off"
       validation:
-        bounds<>: [0.0, 1.0]
+        bounds<>: [0.0, 5.0]
       default_value: 0.0
     trunk_x_offset:
       type: double

bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp

@@ -518,7 +518,7 @@ void WalkEngine::buildTrajectories(WalkEngine::TrajectoryType type) {
   foot_spline_.pitch()->addPoint(0.0, foot_orientation_pos_at_last_foot_change_.y(),
                                  foot_orientation_vel_at_last_foot_change_.y(),
                                  foot_orientation_acc_at_foot_change_.y());
-  foot_spline_.pitch()->addPoint(double_support_length, config_.foot_pitch_angle);
+  foot_spline_.pitch()->addPoint(double_support_length, config_.foot_pitch_angle * support_to_next_.getOrigin().x());
   // foot_spline_.pitch()->addPoint(double_support_length, 0.1);
   // foot_spline_.pitch()->addPoint(double_support_length + single_support_length * config_.foot_apex_phase, 0.1);
   foot_spline_.pitch()->addPoint(half_period, 0.0);