Sucan126
bd023eaba3
- 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.
88 lines
2.3 KiB
C++
88 lines
2.3 KiB
C++
#pragma once
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#include <memory>
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#include <atomic>
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#include <nlohmann/json.hpp>
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#include <unitree/robot/go2/sport/sport_client.hpp>
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#include <unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp>
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#include <unitree/robot/b2/motion_switcher/motion_switcher_client.hpp>
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#include <unitree/robot/go2/video/video_client.hpp>
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#include <unitree/robot/go2/vui/vui_client.hpp>
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#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <unitree/idl/go2/SportModeState_.hpp>
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#include "logger.hpp"
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namespace custom {
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class Controller {
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public:
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Controller();
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~Controller();
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bool initialize();
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bool start();
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bool stop();
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void shutdown() { stop(); }
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bool isRunning() const { return running_; }
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// Sport
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bool StandUp();
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bool StandDown();
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bool Sit();
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bool Damp();
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bool RecoveryStand();
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bool StopMove();
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bool BalanceStand();
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bool Euler(float roll, float pitch, float yaw);
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bool Move(float vx, float vy, float vyaw);
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bool RiseSit();
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bool SpeedLevel(int level);
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bool Hello();
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bool Stretch();
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bool SwitchJoystick(bool flag);
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bool Heart();
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bool Pose(bool flag);
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bool Scrape();
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bool FrontFlip();
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bool FrontJump();
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bool FrontPounce();
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bool Dance1();
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bool Dance2();
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bool TrajectoryFollow(const std::vector<std::array<float, 6>>& path);
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bool FootRaiseHeight(float height);
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// Obstacle
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bool SwitchSet(bool enable);
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bool SwitchGet(bool& enable);
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bool UseRemoteCommandFromApi(bool isRemoteCommandsFromApi);
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bool MoveToAbsolutePosition(float x, float y, float yaw);
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bool MoveToIncrementPosition(float x, float y, float yaw);
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// MotionSwitcher
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bool CheckMode(std::string& form, std::string& name);
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bool SelectMode(const std::string& nameOrAlias);
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bool ReleaseMode();
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private:
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template<typename Func>
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bool ExecuteSportCmd(Func&& func);
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template<typename Func>
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bool ExecuteObstacleCmd(Func&& func);
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template<typename Func>
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bool ExecuteMotionSwitchCmd(Func&& func);
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std::unique_ptr<unitree::robot::go2::SportClient> sc_;
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std::unique_ptr<unitree::robot::go2::ObstaclesAvoidClient> oac_;
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std::unique_ptr<unitree::robot::b2::MotionSwitcherClient> msc_;
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std::atomic<bool> running_;
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std::atomic<bool> initialized_;
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};
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} // namespace custom
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