🎨 Moves kinematics config to kinematics file

esp32/include/kinematics.h

@@ -2,7 +2,63 @@
 #define Kinematics_h
 
 #include <utils/math_utils.h>
-#include <motion_states/kinematic_constraints.h>
+
+class KinConfig {
+  public:
+#if defined(SPOTMICRO_ESP32)
+    static constexpr float coxa = 60.5f / 100.0f;
+    static constexpr float coxa_offset = 10.0f / 100.0f;
+    static constexpr float femur = 111.2f / 100.0f;
+    static constexpr float tibia = 118.5f / 100.0f;
+    static constexpr float L = 207.5f / 100.0f;
+    static constexpr float W = 78.0f / 100.0f;
+#elif defined(SPOTMICRO_ESP32_MINI)
+    static constexpr float coxa = 35.0f / 100.0f;
+    static constexpr float coxa_offset = 0.0f / 100.0f;
+    static constexpr float femur = 60.0f / 100.0f;
+    static constexpr float tibia = 60.0f / 100.0f;
+    static constexpr float L = 160.0f / 100.0f;
+    static constexpr float W = 80.0f / 100.0f;
+#elif defined(SPOTMICRO_YERTLE)
+    static constexpr float coxa = 35.0f / 100.0f;
+    static constexpr float coxa_offset = 0.0f;
+    static constexpr float femur = 130.0f / 100.0f;
+    static constexpr float tibia = 130.0f / 100.0f;
+    static constexpr float L = 240.0f / 100.0f;
+    static constexpr float W = 78.0f / 100.0f;
+#endif
+
+    static constexpr float mountOffsets[4][3] = {
+        {L / 2, 0, W / 2}, {L / 2, 0, -W / 2}, {-L / 2, 0, W / 2}, {-L / 2, 0, -W / 2}};
+
+    static constexpr float default_feet_positions[4][4] = {
+        {mountOffsets[0][0], 0, mountOffsets[0][2] + coxa, 1},
+        {mountOffsets[1][0], 0, mountOffsets[1][2] - coxa, 1},
+        {mountOffsets[2][0], 0, mountOffsets[2][2] + coxa, 1},
+        {mountOffsets[3][0], 0, mountOffsets[3][2] - coxa, 1},
+    };
+
+    // Max constants
+    static constexpr float max_roll = 15 * (float)M_PI_2;
+    static constexpr float max_pitch = 15 * (float)M_PI_2;
+
+    static constexpr float max_body_shift_x = W / 3;
+    static constexpr float max_body_shift_z = W / 3;
+
+    static constexpr float max_leg_reach = femur + tibia - coxa_offset;
+
+    static constexpr float min_body_height = max_leg_reach * 0.45;
+    static constexpr float max_body_height = max_leg_reach * 0.9;
+    static constexpr float body_height_range = max_body_height - min_body_height;
+
+    static constexpr float max_step_length = max_leg_reach * 0.8;
+    static constexpr float max_step_height = max_leg_reach / 2;
+
+    // Default constant
+    static constexpr float default_step_depth = 0.002;
+    static constexpr float default_body_height = min_body_height + body_height_range / 2;
+    static constexpr float default_step_height = default_body_height / 2;
+};
 
 struct alignas(16) body_state_t {
     float omega {0}, phi {0}, psi {0}, xm {0}, ym {KinConfig::default_body_height}, zm {0};

esp32/include/motion.h

@@ -11,7 +11,6 @@
 #include <motion_states/walk_state.h>
 #include <motion_states/stand_state.h>
 #include <motion_states/rest_state.h>
-#include <motion_states/kinematic_constraints.h>
 #include <message_types.h>
 
 #define DEFAULT_STATE false

esp32/include/motion_states/kinematic_constraints.h

@@ -1,62 +0,0 @@
-#pragma once
-
-#include <kinematics.h>
-#include <utils/math_utils.h>
-#include <cmath>
-
-class KinConfig {
-  public:
-#if defined(SPOTMICRO_ESP32)
-    static constexpr float coxa = 60.5f / 100.0f;
-    static constexpr float coxa_offset = 10.0f / 100.0f;
-    static constexpr float femur = 111.2f / 100.0f;
-    static constexpr float tibia = 118.5f / 100.0f;
-    static constexpr float L = 207.5f / 100.0f;
-    static constexpr float W = 78.0f / 100.0f;
-#elif defined(SPOTMICRO_ESP32_MINI)
-    static constexpr float coxa = 35.0f / 100.0f;
-    static constexpr float coxa_offset = 0.0f / 100.0f;
-    static constexpr float femur = 60.0f / 100.0f;
-    static constexpr float tibia = 60.0f / 100.0f;
-    static constexpr float L = 160.0f / 100.0f;
-    static constexpr float W = 80.0f / 100.0f;
-#elif defined(SPOTMICRO_YERTLE)
-    static constexpr float coxa = 35.0f / 100.0f;
-    static constexpr float coxa_offset = 0.0f;
-    static constexpr float femur = 130.0f / 100.0f;
-    static constexpr float tibia = 130.0f / 100.0f;
-    static constexpr float L = 240.0f / 100.0f;
-    static constexpr float W = 78.0f / 100.0f;
-#endif
-
-    static constexpr float mountOffsets[4][3] = {
-        {L / 2, 0, W / 2}, {L / 2, 0, -W / 2}, {-L / 2, 0, W / 2}, {-L / 2, 0, -W / 2}};
-
-    static constexpr float default_feet_positions[4][4] = {
-        {mountOffsets[0][0], 0, mountOffsets[0][2] + coxa, 1},
-        {mountOffsets[1][0], 0, mountOffsets[1][2] - coxa, 1},
-        {mountOffsets[2][0], 0, mountOffsets[2][2] + coxa, 1},
-        {mountOffsets[3][0], 0, mountOffsets[3][2] - coxa, 1},
-    };
-
-    // Max constants
-    static constexpr float max_roll = 15 * (float)M_PI_2;
-    static constexpr float max_pitch = 15 * (float)M_PI_2;
-
-    static constexpr float max_body_shift_x = W / 3;
-    static constexpr float max_body_shift_z = W / 3;
-
-    static constexpr float max_leg_reach = femur + tibia - coxa_offset;
-
-    static constexpr float min_body_height = max_leg_reach * 0.45;
-    static constexpr float max_body_height = max_leg_reach * 0.9;
-    static constexpr float body_height_range = max_body_height - min_body_height;
-
-    static constexpr float max_step_length = max_leg_reach * 0.8;
-    static constexpr float max_step_height = max_leg_reach / 2;
-
-    // Default constant
-    static constexpr float default_step_depth = 0.002;
-    static constexpr float default_body_height = min_body_height + body_height_range / 2;
-    static constexpr float default_step_height = default_body_height / 2;
-};

esp32/include/motion_states/state.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <kinematics.h>
-#include <motion_states/kinematic_constraints.h>
 #include <message_types.h>
 
 class MotionState {