gait_command.h

// Gait command structure for the generic gait motion module
// File: gait_command.h
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>

// Ensure header is only included once
#ifndef GAIT_COMMAND_H
#define GAIT_COMMAND_H

// Includes
#include <cmath>

// Gait namespace
namespace gait
{
    struct GaitCommand
    {
        GaitCommand() { reset(); }

        void reset(bool shouldWalk = false)
        {
            linVelX = 0.0;
            linVelY = 0.0;
            angVelZ = 0.0;
            walk = shouldWalk;
        }

        bool isFinite() const { return (std::isfinite(linVelX) && std::isfinite(linVelY) && std::isfinite(angVelZ)); }

        // Gait command velocity vector
        float linVelX;         
        float linVelY;         
        float angVelZ;         

        // Flags
        bool walk;             
    };
}

#endif /* GAIT_COMMAND_H */
// EOF