endeffector_mappings.h

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#ifndef XPP_STATES_ENDEFFECTOR_MAPPINGS_H_
#define XPP_STATES_ENDEFFECTOR_MAPPINGS_H_
 
#include <map>
#include <string>
 
namespace xpp {
 
namespace biped {
enum FootIDs { L=0, R };
static std::map<FootIDs, std::string> foot_to_name =
{
  {L, "Left" },
  {R, "Right"}
};
}
 
namespace quad {
enum FootIDs { LF=0, RF, LH, RH };
static std::map<FootIDs, std::string> foot_to_name =
{
  {LF, "Left-Front" },
  {RF, "Right-Front"},
  {LH, "Left-Hind"  },
  {RH, "Right-Hind" }
};
}
 
} // namespace xpp
 
#endif /* XPP_STATES_ENDEFFECTOR_MAPPINGS_H_ */