Rune Harlyk
17 lines
499 B
C++
17 lines
499 B
C++
#pragma once
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#include <gait/state.h>
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class StandState : public GaitState {
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protected:
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const char *name() const override { return "Stand"; }
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void step(body_state_t &body_state, CommandMsg command, float dt = 0.02f) override {
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body_state.omega = 0;
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body_state.phi = command.rx / 8;
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body_state.psi = command.ry / 8;
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body_state.xm = command.ly / 2 / 100;
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body_state.zm = command.lx / 2 / 100;
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body_state.updateFeet(default_feet_pos);
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}
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}; |