00001 /****************************************************************************** 00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved. 00003 00004 Redistribution and use in source and binary forms, with or without 00005 modification, are permitted provided that the following conditions are met: 00006 00007 * Redistributions of source code must retain the above copyright notice, this 00008 list of conditions and the following disclaimer. 00009 00010 * Redistributions in binary form must reproduce the above copyright notice, 00011 this list of conditions and the following disclaimer in the documentation 00012 and/or other materials provided with the distribution. 00013 00014 * Neither the name of the copyright holder nor the names of its 00015 contributors may be used to endorse or promote products derived from 00016 this software without specific prior written permission. 00017 00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00019 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00023 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00024 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00025 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00026 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00027 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00028 ******************************************************************************/ 00029 00030 #ifndef TOWR_MODELS_QUADRUPED_GAIT_GENERATOR_H_ 00031 #define TOWR_MODELS_QUADRUPED_GAIT_GENERATOR_H_ 00032 00033 #include "gait_generator.h" 00034 00035 namespace towr { 00036 00042 class QuadrupedGaitGenerator : public GaitGenerator { 00043 public: 00044 QuadrupedGaitGenerator (); 00045 virtual ~QuadrupedGaitGenerator () = default; 00046 00047 private: 00048 GaitInfo GetGait(Gaits gait) const override; 00049 00050 GaitInfo GetStrideStand() const; 00051 GaitInfo GetStrideFlight() const; 00052 GaitInfo GetStrideWalk() const; 00053 GaitInfo GetStrideWalkOverlap() const; 00054 GaitInfo GetStrideTrot() const; 00055 GaitInfo GetStrideTrotFly() const; 00056 GaitInfo GetStrideTrotFlyEnd () const; 00057 GaitInfo GetStridePace() const; 00058 GaitInfo GetStridePaceEnd() const; 00059 GaitInfo GetStrideBound() const; 00060 GaitInfo GetStrideBoundEnd () const; 00061 GaitInfo GetStrideGallop() const; 00062 GaitInfo GetStridePronk() const; 00063 GaitInfo GetStrideLimp() const; 00064 00065 void SetCombo(Combos combo) override; 00066 00067 00068 // naming convention:, where the circle is is contact, front is right ->. 00069 // so RF and LH in contact is (Pb): o . 00070 // . o 00071 // flight-phase 00072 ContactState II_; 00073 // 1 swingleg 00074 ContactState PI_; 00075 ContactState bI_; 00076 ContactState IP_; 00077 ContactState Ib_; 00078 // 2 swinglegs 00079 ContactState Pb_; 00080 ContactState bP_; 00081 ContactState BI_; 00082 ContactState IB_; 00083 ContactState PP_; 00084 ContactState bb_; 00085 // 3 swinglegs 00086 ContactState Bb_; 00087 ContactState BP_; 00088 ContactState bB_; 00089 ContactState PB_; 00090 // stance-phase 00091 ContactState BB_; 00092 }; 00093 00094 } /* namespace towr */ 00095 00096 #endif /* TOWR_MODELS_QUADRUPED_GAIT_GENERATOR_H_ */