From acae58fa180ee33b87247416cbd8be987e454eb8 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Tue, 23 Sep 2025 19:23:34 +0800
Subject: [PATCH] refactor(controller): Remove StaticWalk method from
 controller interface

- Deleted the StaticWalk method from the controller header and implementation files to streamline the interface and eliminate unused functionality.
---
 include/controller.hpp | 1 -
 src/controller.cpp     | 5 -----
 2 files changed, 6 deletions(-)

diff --git a/include/controller.hpp b/include/controller.hpp
index 2a7134a..4eaf668 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -58,7 +58,6 @@ public:
     bool FreeBound(bool flag);
     bool FreeJump(bool flag);
     bool FreeAvoid(bool flag);
-    bool StaticWalk();
     bool WalkUpright(bool flag);
     bool CrossStep(bool flag);
     bool TrajectoryFollow(std::vector<unitree::robot::go2::PathPoint>& path);
diff --git a/src/controller.cpp b/src/controller.cpp
index 0fd8bae..1e90ccb 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -321,11 +321,6 @@ bool Controller::FreeAvoid(bool flag) {
     });
 }
 
-bool Controller::StaticWalk() {
-    return ExecuteSportCmd([](auto* sc) {
-        return sc->StaticWalk();
-    });
-}
 
 bool Controller::WalkUpright(bool flag) {
     return ExecuteSportCmd([flag](auto* sc) {