gait_interface.h

// Interface classes for data exchange between the generic gait motion module and gait engines
// File: gait_interface.h
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>

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

// Includes
#include <gait/gait_common.h>
#include <gait/gait_command.h>

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

        void reset()
        {
            for(int i = 0; i < NUM_JOINTS; i++)
                jointPos[i] = 0.0;
            timestamp = 0.0;
            nominaldT = 0.0;
            truedT = 0.0;
            gaitCmd.reset();
            motionPending = false;
            motionID = MID_NONE;
            motionStance = STANCE_DEFAULT;
            motionAdjustLeftFoot = false;
            motionAdjustRightFoot = false;
        }

        // Joint states
        double jointPos[NUM_JOINTS]; 

        // System parameters
        double timestamp;            
        double nominaldT;            
        double truedT;               

        // Gait command
        GaitCommand gaitCmd;         

        // Motion parameters
        bool motionPending;          
        MotionID motionID;           
        MotionStance motionStance;   
        bool motionAdjustLeftFoot;   
        bool motionAdjustRightFoot;  
    };

    struct GaitEngineOutput
    {
        GaitEngineOutput() { reset(); }

        void reset()
        {
            for(int i = 0; i < NUM_JOINTS; i++)
            {
                jointCmd[i] = 0.0;
                jointEffort[i] = 0.0;
            }
            useRawJointCmds = false;
            walking = false;
            supportCoeffLeftLeg = 0.0;
            supportCoeffRightLeg = 0.0;
            for(int i = 0; i < 3; i++)
            {
                odomPosition[i] = 0.0;
                odomOrientation[i+1] = 0.0;
            }
            odomOrientation[0] = 1.0;
        }

        // Joint commands
        double jointCmd[NUM_JOINTS];     
        double jointEffort[NUM_JOINTS];  
        bool   useRawJointCmds;          

        // Status flags
        bool walking;                    

        // Support coefficients
        double supportCoeffLeftLeg;      
        double supportCoeffRightLeg;     

        // Robot odometry transform
        double odomPosition[3];          
        double odomOrientation[4];       
    };
}

#endif /* GAIT_INTERFACE_H */
// EOF