Rune Harlyk
23 lines
631 B
C++
23 lines
631 B
C++
#pragma once
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#include <gait/state.h>
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class RestState : public MotionState {
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protected:
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const char *name() const override { return "Rest"; }
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virtual void begin() {
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target_body_state.xm = 0;
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target_body_state.ym = KinConfig::min_body_height;
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target_body_state.zm = 0;
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target_body_state.omega = 0;
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target_body_state.phi = 0;
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target_body_state.psi = 0;
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target_body_state.updateFeet(KinConfig::default_feet_positions);
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}
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void step(body_state_t &body_state, float dt = 0.02f) override {
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lerpToBody(body_state);
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updateFeet(body_state);
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}
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}; |