raibert_heuristic.hpp

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#ifndef ROBOTOC_RAIBERT_HEURISTIC_HPP_
#define ROBOTOC_RAIBERT_HEURISTIC_HPP_
 
#include <vector>
#include <iostream>
 
#include "Eigen/Core"
#include "Eigen/Geometry"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/contact_status.hpp"
#include "robotoc/robot/se3.hpp"
#include "robotoc/utils/aligned_vector.hpp"
#include "robotoc/mpc/contact_planner_base.hpp"
 
 
namespace robotoc {
 
class RaibertHeuristic {
public:
  RaibertHeuristic(const double period, const double gain);
 
  RaibertHeuristic();
 
  ~RaibertHeuristic();
 
  RaibertHeuristic(const RaibertHeuristic&) = default;
 
  RaibertHeuristic& operator=(const RaibertHeuristic&) = default;
 
  RaibertHeuristic(RaibertHeuristic&&) noexcept = default;
 
  RaibertHeuristic& operator=(RaibertHeuristic&&) noexcept = default;
 
  void setParameters(const double period, const double gain);
 
  void planStepLength(const Eigen::Vector2d& vcom,
                      const Eigen::Vector2d& vcom_cmd, 
                      const double yaw_rate_cmd);
 
  const Eigen::Vector3d& stepLength() const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
private:
  double period_, gain_;
  Eigen::Vector3d step_length_;
 
};
 
} // namespace robotoc 
 
#endif // ROBOTOC_RAIBERT_HEURISTIC_HPP_