monoped_gait_generator.cc

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#include <towr/initialization/monoped_gait_generator.h>

#include <cassert>
#include <iostream>

namespace towr {

void
MonopedGaitGenerator::SetCombo (Combos combo)
{
  switch (combo) {
    case C0: SetGaits({Stand, Hop1, Hop1, Hop1, Hop1, Stand});       break;
    case C1: SetGaits({Stand, Hop1, Hop1, Hop1, Stand});             break;
    case C2: SetGaits({Stand, Hop1, Hop1, Hop1, Hop1, Stand});       break;
    case C3: SetGaits({Stand, Hop2, Hop2, Hop2, Stand});             break;
    case C4: SetGaits({Stand, Hop2, Hop2, Hop2, Hop2, Hop2, Stand}); break;
    default: assert(false); std::cout << "Gait not defined\n";       break;
  }
}

MonopedGaitGenerator::GaitInfo
MonopedGaitGenerator::GetGait (Gaits gait) const
{
  switch (gait) {
    case Stand:   return GetStrideStand();
    case Flight:  return GetStrideFlight();
    case Hop1:    return GetStrideHop();
    case Hop2:    return GetStrideHopLong();
    default: assert(false); // gait not implemented
  }
}

MonopedGaitGenerator::GaitInfo
MonopedGaitGenerator::GetStrideStand () const
{
  auto times =
  {
      0.5,
  };
  auto contacts =
  {
      o_,
  };

  return std::make_pair(times, contacts);
}

MonopedGaitGenerator::GaitInfo
MonopedGaitGenerator::GetStrideFlight () const
{
  auto times =
  {
      0.5,
  };
  auto contacts =
  {
      x_,
  };

  return std::make_pair(times, contacts);
}

MonopedGaitGenerator::GaitInfo
MonopedGaitGenerator::GetStrideHop () const
{
  auto times =
  {
      0.3, 0.3,
  };
  auto contacts =
  {
      o_, x_,
  };

  return std::make_pair(times, contacts);
}

MonopedGaitGenerator::GaitInfo
MonopedGaitGenerator::GetStrideHopLong () const
{
  auto times =
  {
      0.2, 0.3,
  };
  auto contacts =
  {
      o_, x_,
  };

  return std::make_pair(times, contacts);
}

} /* namespace towr */