- Modified the TrajectoryFollow method in both the header and implementation files to accept a non-const reference to a vector of unitree::robot::go2::PathPoint, allowing for in-place modifications of the path.
- Changed the signature of TrajectoryFollow to accept a vector of unitree::robot::go2::PathPoint instead of std::array<float, 6>.
- Updated the implementation of TrajectoryFollow in controller.cpp to utilize the new path type.
- Removed unnecessary status message in CMakeLists.txt related to unitree_sdk2 detection.
- Added a new function in custom_robot.cpp to create example trajectories for different path types (line, square, circle) and integrated it into the command processing for TrajectoryFollow.
- Added Recharge class for managing automatic recharge capabilities using ArUco markers.
- Integrated recharge functionality into CustomRobot, including command processing for starting and stopping recharge.
- Updated CMakeLists.txt to include the new recharge.cpp source file.
- Enhanced README.md to document the new auto recharge support feature.
- Removed several unused methods from the Controller class, including HandStand, ClassicWalk, AutoRecoverSet, StaticWalk, TrotRun, EconomicGait, and SwitchAvoidMode.
- Updated CMakeLists.txt to remove the hardcoded include path for unitree SDK, streamlining the include directories for the main target.
- Deleted the UseRemoteCommandFromApi, MoveToAbsolutePosition, and MoveToIncrementPosition methods from the controller interface and implementation. This further simplifies the code structure and enhances maintainability.
- Eliminated several unused motion control methods from the controller interface and implementation, including Content, LeftFlip, BackFlip, HandStand, FreeWalk, FreeBound, FreeJump, FreeAvoid, ClassicWalk, WalkUpright, CrossStep, AutoRecoverSet, StaticWalk, TrotRun, and EconomicGait. This cleanup simplifies the code structure and improves maintainability.
