Rune Harlyk
23 lines
640 B
C++
23 lines
640 B
C++
#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);
|
|
}
|
|
}; |