monoped_gait_generator.h

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#ifndef TOWR_MODELS_MONOPED_GAIT_GENERATOR_H_
#define TOWR_MODELS_MONOPED_GAIT_GENERATOR_H_

#include "gait_generator.h"

namespace towr {

class MonopedGaitGenerator : public GaitGenerator {
public:
  MonopedGaitGenerator () = default;
  virtual ~MonopedGaitGenerator () = default;

private:
  GaitInfo GetGait(Gaits gait) const override;

  GaitInfo GetStrideStand()   const;
  GaitInfo GetStrideFlight()  const;
  GaitInfo GetStrideHop()     const;
  GaitInfo GetStrideHopLong() const;

  ContactState o_ = ContactState(1, true);  // stance
  ContactState x_ = ContactState(1, false); // flight

  void SetCombo(Combos combo) override;
};

} /* namespace towr */

#endif /* TOWR_MODELS_MONOPED_GAIT_GENERATOR_H_ */