trot_swing_foot_ref.hpp

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#ifndef ROBOTOC_TROT_SWING_FOOT_REF_HPP_
#define ROBOTOC_TROT_SWING_FOOT_REF_HPP_
 
#include <string>
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/cost/swing_foot_cost.hpp"
 
 
namespace robotoc {
 
class TrotSwingFootRef : public SwingFootRefBase {
public:
  TrotSwingFootRef(const int contact_index, 
                   const int x_ref_foot_contact_index, 
                   const int y_ref_foot_contact_index,
                   const double step_length, const double step_height);
 
  TrotSwingFootRef(const Robot& robot, const std::string& contact_frame_name, 
                   const int x_ref_foot_contact_index, 
                   const int y_ref_foot_contact_index,
                   const double step_length, const double step_height);
 
  ~TrotSwingFootRef();
 
  void updateRef(const ContactStatus& contact_status, 
                      Eigen::VectorXd& x3d_ref) const override;
 
private:
  int contact_index_, x_ref_foot_contact_index_, y_ref_foot_contact_index_;
  double step_length_, step_height_;
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_TROT_SWING_FOOT_REF_HPP_