gait_common.h

// Common definitions for the generic gait motion module and underlying gait engines
// File: gait_common.h
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>

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

// Includes
#include <gait_msgs/GaitCommand.h>
#include <string>

// Gait namespace
namespace gait
{
    enum JointID
    {
        ARMS_BEGIN,
        LEFT_ARM_BEGIN = ARMS_BEGIN,
        L_SHOULDER_PITCH = LEFT_ARM_BEGIN,
        L_SHOULDER_ROLL,
        L_ELBOW_PITCH,
        LEFT_ARM_END = L_ELBOW_PITCH,

        RIGHT_ARM_BEGIN,
        R_SHOULDER_PITCH = RIGHT_ARM_BEGIN,
        R_SHOULDER_ROLL,
        R_ELBOW_PITCH,
        RIGHT_ARM_END = R_ELBOW_PITCH,
        ARMS_END = RIGHT_ARM_END,

        LEGS_BEGIN,
        LEFT_LEG_BEGIN = LEGS_BEGIN,
        L_HIP_YAW = LEFT_LEG_BEGIN,
        L_HIP_ROLL,
        L_HIP_PITCH,
        L_KNEE_PITCH,
        L_ANKLE_PITCH,
        L_ANKLE_ROLL,
        LEFT_LEG_END = L_ANKLE_ROLL,

        RIGHT_LEG_BEGIN,
        R_HIP_YAW = RIGHT_LEG_BEGIN,
        R_HIP_ROLL,
        R_HIP_PITCH,
        R_KNEE_PITCH,
        R_ANKLE_PITCH,
        R_ANKLE_ROLL,
        RIGHT_LEG_END = R_ANKLE_ROLL,
        LEGS_END = RIGHT_LEG_END,

        NUM_JOINTS
    };

    const std::string jointName[NUM_JOINTS] = {
        "left_shoulder_pitch",  // <-- LEFT_ARM_BEGIN
        "left_shoulder_roll",   //          ...
        "left_elbow_pitch",     // <-- LEFT_ARM_END
        
        "right_shoulder_pitch", // <-- RIGHT_ARM_BEGIN
        "right_shoulder_roll",  //          ...
        "right_elbow_pitch",    // <-- RIGHT_ARM_END
        
        "left_hip_yaw",         // <-- LEFT_LEG_BEGIN
        "left_hip_roll",        //          ...
        "left_hip_pitch",       //          ...
        "left_knee_pitch",      //          ...
        "left_ankle_pitch",     //          ...
        "left_ankle_roll",      // <-- LEFT_LEG_END
        
        "right_hip_yaw",        // <-- RIGHT_LEG_BEGIN
        "right_hip_roll",       //          ...
        "right_hip_pitch",      //          ...
        "right_knee_pitch",     //          ...
        "right_ankle_pitch",    //          ...
        "right_ankle_roll"      // <-- RIGHT_LEG_END
    };

    const std::string gaitOdomFrame = "/odom_gait";

    enum MotionID
    {
        MID_NONE,
        MID_KICK_LEFT,
        MID_KICK_RIGHT,
        MID_DIVE_LEFT,
        MID_DIVE_RIGHT,
        MID_DIVE_SIT,
        MID_COUNT
    };

    static const std::string motionName[MID_COUNT] = {
        "",
        "kick_left",
        "kick_right",
        "left_dive",
        "right_dive",
        "sit_dive"
    };

    enum MotionStance
    {
        STANCE_DEFAULT,
        STANCE_KICK,
        STANCE_COUNT
    };

    inline void resetGaitCommand(gait_msgs::GaitCommand& cmd)
    {
        // Reset the gait command to its default values
        cmd.gcvX = cmd.gcvY = cmd.gcvZ = 0.0;
        cmd.walk = false;
        cmd.motion = MID_NONE;
    }
}

#endif
// EOF