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