Rune Harlyk
18 lines
488 B
C++
18 lines
488 B
C++
#pragma once
|
|
|
|
#include <gait/state.h>
|
|
|
|
class RestState : public GaitState {
|
|
protected:
|
|
const char *name() const override { return "Rest"; }
|
|
|
|
void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
|
|
body_state.omega = 0;
|
|
body_state.phi = 0;
|
|
body_state.psi = 0;
|
|
body_state.xm = 0;
|
|
body_state.ym = getDefaultHeight() / 2;
|
|
body_state.zm = 0;
|
|
body_state.updateFeet(default_feet_pos);
|
|
}
|
|
}; |