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refactor(custom_robot): 移除未使用的运动控制命令

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移除BodyHeight、SwitchGait、ContinuousGait、MoveToPos和FastWalk等不再使用的运动控制命令处理逻辑，简化代码结构
This commit is contained in:
Sucan126
2025-09-21 15:21:00 +08:00
parent 7101cbffa2
commit b6b1dc410b
1 changed files with 0 additions and 11 deletions
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11
src/custom_robot.cpp
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@@ -606,19 +606,8 @@ bool CustomRobot::processSportCmd(const std::string& cmd, const nlohmann::json&
return controller_->EconomicGait();
} else if (cmd == "SwitchAvoidMode") {
return controller_->SwitchAvoidMode();
}
else if (cmd == "BodyHeight") {
return controller_->BodyHeight(message["param"]["height"]);
} else if (cmd == "SwitchGait") {
return controller_->SwitchGait(message["param"]["gait"]);
} else if (cmd == "TrajectoryFollow") {
return controller_->TrajectoryFollow(message["param"]["path"]);
} else if (cmd == "ContinuousGait") {
return controller_->ContinuousGait(message["param"]["flag"]);
} else if (cmd == "MoveToPos") {
return controller_->MoveToPos(message["param"]["x"], message["param"]["y"], message["param"]["yaw"]);
} else if (cmd == "FastWalk") {
return controller_->FastWalk(message["param"]["flag"]);
} else if (cmd == "FootRaiseHeight") {
return controller_->FootRaiseHeight(message["param"]["height"]);
}