quadruped_gait_generator.h
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29 
30 #ifndef TOWR_MODELS_QUADRUPED_GAIT_GENERATOR_H_
31 #define TOWR_MODELS_QUADRUPED_GAIT_GENERATOR_H_
32 
33 #include "gait_generator.h"
34 
35 namespace towr {
36 
43 public:
45  virtual ~QuadrupedGaitGenerator () = default;
46 
47 private:
48  GaitInfo GetGait(Gaits gait) const override;
49 
50  GaitInfo GetStrideStand() const;
51  GaitInfo GetStrideFlight() const;
52  GaitInfo GetStrideWalk() const;
54  GaitInfo GetStrideTrot() const;
55  GaitInfo GetStrideTrotFly() const;
57  GaitInfo GetStridePace() const;
58  GaitInfo GetStridePaceEnd() const;
59  GaitInfo GetStrideBound() const;
60  GaitInfo GetStrideBoundEnd () const;
61  GaitInfo GetStrideGallop() const;
62  GaitInfo GetStridePronk() const;
63  GaitInfo GetStrideLimp() const;
64 
65  void SetCombo(Combos combo) override;
66 
67 
68  // naming convention:, where the circle is is contact, front is right ->.
69  // so RF and LH in contact is (Pb): o .
70  // . o
71  // flight-phase
73  // 1 swingleg
78  // 2 swinglegs
85  // 3 swinglegs
90  // stance-phase
92 };
93 
94 } /* namespace towr */
95 
96 #endif /* TOWR_MODELS_QUADRUPED_GAIT_GENERATOR_H_ */
virtual ~QuadrupedGaitGenerator()=default
Gaits
Predefined strides, each with a different gait diagram.
Combos
Predefined combinations of different strides.
GaitInfo GetGait(Gaits gait) const override
std::pair< VecTimes, std::vector< ContactState >> GaitInfo
void SetCombo(Combos combo) override
Sets a specific sequence of gaits.
Generates endeffector phase durations for predefined gait styles.
Produces the contact sequence for a variety of four-legged gaits.
std::vector< bool > ContactState


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16