Rune Harlyk
33 lines
1.1 KiB
C++
33 lines
1.1 KiB
C++
#pragma once
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#include <gait/phase_state_base.h>
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class EightPhaseWalkState : public PhaseGaitState {
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protected:
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const char *name() const override { return "Eight phase walk"; }
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int num_phases() const override { return 8; }
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float phase_speed_factor() const override { return 4; }
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float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
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public:
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EightPhaseWalkState() {
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uint8_t contact[4][8] = {
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{1, 0, 1, 1, 1, 1, 1, 1}, {1, 1, 1, 1, 1, 0, 1, 1}, {1, 1, 1, 1, 1, 1, 1, 0}, {1, 1, 1, 0, 1, 1, 1, 1}};
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float shift_values[4][3] = {{-0.05f, 0, -0.2f}, {0.25f, 0, 0.2f}, {-0.05f, 0, 0.2f}, {0.25f, 0, -0.2f}};
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for (uint8_t i = 0; i < 4; ++i) {
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for (uint8_t j = 0; j < 8; ++j) {
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contact_phases[i][j] = contact[i][j];
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}
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for (uint8_t j = 0; j < 3; ++j) {
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shifts[i][j] = shift_values[i][j];
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}
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}
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}
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void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
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return PhaseGaitState::step(body_state, command, dt);
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}
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}; |