periodic_swing_foot_ref.hpp

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#ifndef ROBOTOC_PERIODIC_SWING_FOOT_REF_HPP_
#define ROBOTOC_PERIODIC_SWING_FOOT_REF_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/cost/task_space_3d_cost.hpp"
 
 
namespace robotoc {
 
class PeriodicSwingFootRef : public TaskSpace3DRefBase {
public:
  PeriodicSwingFootRef(const Eigen::Vector3d& x3d0, 
                       const Eigen::Vector3d& step_length, 
                       const double step_height, const double t0, 
                       const double period_swing, const double period_stance, 
                       const bool is_first_step_half);
 
  ~PeriodicSwingFootRef();
 
  void setFootTrackRef(const Eigen::Vector3d& x3d0, 
                       const Eigen::Vector3d& step_length, 
                       const double step_height, const double t0, 
                       const double period_swing, const double period_stance, 
                       const bool is_first_step_half=false);
 
  void updateRef(const GridInfo& grid_info, Eigen::VectorXd& x3d_ref) const override;
 
  bool isActive(const GridInfo& grid_info) const override;
 
private:
  Eigen::Vector3d x3d0_, step_length_;
  double step_height_, t0_, period_swing_, period_stance_, period_;
  bool is_first_step_half_;
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_PERIODIC_SWING_FOOT_REF_HPP_