A class representing a footstep (i.e. a translation and rotation of a specific foot with respect to the supporting leg) that can be performed by a humanoid robot
A class representing the robot's pose (i.e. position and orientation) in the underlying SBPL. More precisely a planning state is a discrete representation of the robot's supporting leg
A class representing the robot's pose (i.e. position and orientation) in the (continuous) world view. More precisely a state points to the robot's supporting leg