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| #pragma once |
|
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| #include "FSMState.h" |
| #include "LinearInterpolator.h" |
|
|
| class State_FixStand : public FSMState |
| { |
| public: |
| State_FixStand(int state, std::string state_string = "FixStand") |
| : FSMState(state, state_string) |
| { |
| ts_ = param::config["FSM"]["FixStand"]["ts"].as<std::vector<float>>(); |
| qs_ = param::config["FSM"]["FixStand"]["qs"].as<std::vector<std::vector<float>>>(); |
| assert(ts_.size() == qs_.size()); |
| } |
|
|
| void enter() |
| { |
| |
| static auto kp = param::config["FSM"]["FixStand"]["kp"].as<std::vector<float>>(); |
| static auto kd = param::config["FSM"]["FixStand"]["kd"].as<std::vector<float>>(); |
| for(int i(0); i < kp.size(); ++i) |
| { |
| auto & motor = lowcmd->msg_.motor_cmd()[i]; |
| motor.kp() = kp[i]; |
| motor.kd() = kd[i]; |
| motor.dq() = motor.tau() = 0; |
| } |
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| |
| std::vector<float> q0; |
| for(int i(0); i < kp.size(); ++i) { |
| q0.push_back(lowcmd->msg_.motor_cmd()[i].q()); |
| } |
| qs_[0] = q0; |
| t0_ = (double)unitree::common::GetCurrentTimeMillisecond() * 1e-3; |
| } |
|
|
| void run() |
| { |
| float t = (double)unitree::common::GetCurrentTimeMillisecond() * 1e-3 - t0_; |
| auto q = linear_interpolate(t, ts_, qs_); |
| |
| for(int i(0); i < q.size(); ++i) { |
| lowcmd->msg_.motor_cmd()[i].q() = q[i]; |
| } |
| } |
|
|
| private: |
| double t0_; |
| std::vector<float> ts_; |
| std::vector<std::vector<float>> qs_; |
| }; |
|
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| REGISTER_FSM(State_FixStand) |
