biped_gait_generator.h

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#ifndef TOWR_MODELS_BIPED_GAIT_GENERATOR_H_
#define TOWR_MODELS_BIPED_GAIT_GENERATOR_H_

#include "gait_generator.h"

namespace towr {

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

private:
  GaitInfo GetGait(Gaits gait) const override;

  GaitInfo GetStrideStand() const;
  GaitInfo GetStrideFlight() const;
  GaitInfo GetStrideWalk() const;
  GaitInfo GetStrideRun() const;
  GaitInfo GetStrideHop() const;
  GaitInfo GetStrideLeftHop() const;
  GaitInfo GetStrideRightHop() const;
  GaitInfo GetStrideGallopHop() const;

  void SetCombo(Combos combo) override;

  // naming convention:, where the circle is is contact, front is right ->.
  ContactState I_; // flight
  ContactState b_; // right-leg in contact
  ContactState P_; // left leg in contact
  ContactState B_; // stance (both legs in contact)
};

} /* namespace towr */

#endif /* TOWR_MODELS_BIPED_GAIT_GENERATOR_H_ */