biped_gait_generator.h
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29 
30 #ifndef TOWR_MODELS_BIPED_GAIT_GENERATOR_H_
31 #define TOWR_MODELS_BIPED_GAIT_GENERATOR_H_
32 
33 #include "gait_generator.h"
34 
35 namespace towr {
36 
43 public:
45  virtual ~BipedGaitGenerator () = default;
46 
47 private:
48  GaitInfo GetGait(Gaits gait) const override;
49 
50  GaitInfo GetStrideStand() const;
51  GaitInfo GetStrideFlight() const;
52  GaitInfo GetStrideWalk() const;
53  GaitInfo GetStrideRun() const;
54  GaitInfo GetStrideHop() const;
55  GaitInfo GetStrideLeftHop() const;
58 
59  void SetCombo(Combos combo) override;
60 
61  // naming convention:, where the circle is is contact, front is right ->.
62  ContactState I_; // flight
63  ContactState b_; // right-leg in contact
64  ContactState P_; // left leg in contact
65  ContactState B_; // stance (both legs in contact)
66 };
67 
68 } /* namespace towr */
69 
70 #endif /* TOWR_MODELS_BIPED_GAIT_GENERATOR_H_ */
virtual ~BipedGaitGenerator()=default
Produces the contact sequence for a variety of two-legged gaits.
Gaits
Predefined strides, each with a different gait diagram.
Combos
Predefined combinations of different strides.
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.
std::vector< bool > ContactState
GaitInfo GetGait(Gaits gait) const override


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22