🎨 Renames states folder

2025-09-04 23:18:57 +02:00
parent b66ddc3e81
commit f82fa051f2
7 changed files with 10 additions and 10 deletions
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <motion_states/state.h>
+
+class RestState : public MotionState {
+  protected:
+    const char *name() const override { return "Rest"; }
+
+    virtual void begin() {
+        target_body_state.xm = 0;
+        target_body_state.ym = KinConfig::min_body_height;
+        target_body_state.zm = 0;
+        target_body_state.omega = 0;
+        target_body_state.phi = 0;
+        target_body_state.psi = 0;
+        target_body_state.updateFeet(KinConfig::default_feet_positions);
+    }
+
+    void step(body_state_t &body_state, float dt = 0.02f) override {
+        lerpToBody(body_state);
+        updateFeet(body_state);
+    }
+};