gait_common_pose.h

// Gait utility class that provides common pose representation functionality
// File: gait_common_pose.h
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>

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

// Gait namespace
namespace gait
{
    struct CommonLegData
    {
        //
        // Constructor
        //

        explicit CommonLegData(bool left = true) { reset(left); }

        inline void reset(bool left = true)
        {
            setEffort(0.0);
            setSupportCoeff(0.0);
            setLegSign(left);
            setLinkLength(1.0);
        }

        //
        // Set functions
        //

        inline void setEffort(double eff)
        {
            effortHipYaw = eff;
            effortHipRoll = eff;
            effortHipPitch = eff;
            effortKneePitch = eff;
            effortAnklePitch = eff;
            effortAnkleRoll = eff;
        }

        inline void setEffort(double effYaw, double effPitch, double effRoll)
        {
            effortHipYaw = effYaw;
            effortHipRoll = effRoll;
            effortHipPitch = effPitch;
            effortKneePitch = effPitch;
            effortAnklePitch = effPitch;
            effortAnkleRoll = effRoll;
        }

        inline void setEffort(double effHipYaw, double effHipRoll, double effHipPitch, double effKneePitch, double effAnklePitch, double effAnkleRoll)
        {
            effortHipYaw = effHipYaw;
            effortHipRoll = effHipRoll;
            effortHipPitch = effHipPitch;
            effortKneePitch = effKneePitch;
            effortAnklePitch = effAnklePitch;
            effortAnkleRoll = effAnkleRoll;
        }

        inline void setSupportCoeff(double coeff)
        {
            supportCoeff = coeff;
        }

        inline void setLegSign(bool left)
        {
            isLeft = left;
            limbSign = (left ? 1 : -1);
        }

        inline void setLinkLength(double length)
        {
            linkLength = length;
        }

        //
        // Data members
        //

        // Joint efforts
        double effortHipYaw;     
        double effortHipRoll;    
        double effortHipPitch;   
        double effortKneePitch;  
        double effortAnklePitch; 
        double effortAnkleRoll;  

        // Support coefficient
        double supportCoeff;     

        // Leg sign
        bool isLeft;             
        int limbSign;            

        // Link length
        double linkLength;       
    };

    struct CommonArmData
    {
        //
        // Constructor
        //

        explicit CommonArmData(bool left = true) { reset(left); }

        inline void reset(bool left = true)
        {
            setEffort(0.0);
            setArmSign(left);
            setLinkLength(1.0);
        }

        //
        // Set functions
        //

        inline void setEffort(double eff)
        {
            effortShoulderPitch = eff;
            effortShoulderRoll = eff;
            effortElbowPitch = eff;
        }

        inline void setEffort(double effPitch, double effRoll)
        {
            effortShoulderPitch = effPitch;
            effortShoulderRoll = effRoll;
            effortElbowPitch = effPitch;
        }

        inline void setEffort(double effShoulderPitch, double effShoulderRoll, double effElbowPitch)
        {
            effortShoulderPitch = effShoulderPitch;
            effortShoulderRoll = effShoulderRoll;
            effortElbowPitch = effElbowPitch;
        }

        inline void setArmSign(bool left)
        {
            isLeft = left;
            limbSign = (left ? 1 : -1);
        }

        inline void setLinkLength(double length)
        {
            linkLength = length;
        }

        //
        // Data members
        //

        // Joint efforts
        double effortShoulderPitch; 
        double effortShoulderRoll;  
        double effortElbowPitch;    

        // Arm sign
        bool isLeft;                
        int limbSign;               

        // Link length
        double linkLength;          
    };
}

#endif /* GAIT_COMMON_POSE_H */
// EOF