monoped_gait_generator.cc
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2 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
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29 
31 
32 #include <cassert>
33 #include <iostream>
34 
35 namespace towr {
36 
37 void
39 {
40  switch (combo) {
41  case C0: SetGaits({Stand, Hop1, Hop1, Hop1, Hop1, Stand}); break;
42  case C1: SetGaits({Stand, Hop1, Hop1, Hop1, Stand}); break;
43  case C2: SetGaits({Stand, Hop1, Hop1, Hop1, Hop1, Stand}); break;
44  case C3: SetGaits({Stand, Hop2, Hop2, Hop2, Stand}); break;
45  case C4: SetGaits({Stand, Hop2, Hop2, Hop2, Hop2, Hop2, Stand}); break;
46  default: assert(false); std::cout << "Gait not defined\n"; break;
47  }
48 }
49 
52 {
53  switch (gait) {
54  case Stand: return GetStrideStand();
55  case Flight: return GetStrideFlight();
56  case Hop1: return GetStrideHop();
57  case Hop2: return GetStrideHopLong();
58  default: assert(false); // gait not implemented
59  }
60 }
61 
64 {
65  auto times =
66  {
67  0.5,
68  };
69  auto contacts =
70  {
71  o_,
72  };
73 
74  return std::make_pair(times, contacts);
75 }
76 
79 {
80  auto times =
81  {
82  0.5,
83  };
84  auto contacts =
85  {
86  x_,
87  };
88 
89  return std::make_pair(times, contacts);
90 }
91 
94 {
95  auto times =
96  {
97  0.3, 0.3,
98  };
99  auto contacts =
100  {
101  o_, x_,
102  };
103 
104  return std::make_pair(times, contacts);
105 }
106 
109 {
110  auto times =
111  {
112  0.2, 0.3,
113  };
114  auto contacts =
115  {
116  o_, x_,
117  };
118 
119  return std::make_pair(times, contacts);
120 }
121 
122 } /* namespace towr */
void SetCombo(Combos combo) override
Sets a specific sequence of gaits.
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 SetGaits(const std::vector< Gaits > &gaits)
Sets the times_ and contacts_ variables according to the gaits.


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