59 lines
1.4 KiB
C++
59 lines
1.4 KiB
C++
#pragma once
|
|
|
|
#include <memory>
|
|
#include <atomic>
|
|
#include <nlohmann/json.hpp>
|
|
|
|
#include <unitree/robot/go2/sport/sport_client.hpp>
|
|
#include <unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp>
|
|
#include <unitree/robot/go2/video/video_client.hpp>
|
|
#include <unitree/robot/go2/vui/vui_client.hpp>
|
|
#include <unitree/robot/channel/channel_subscriber.hpp>
|
|
#include <unitree/idl/go2/SportModeState_.hpp>
|
|
|
|
namespace custom {
|
|
|
|
|
|
|
|
class Controller {
|
|
public:
|
|
explicit Controller(const std::string& networkInterface);
|
|
~Controller();
|
|
|
|
bool initialize();
|
|
bool start();
|
|
bool stop();
|
|
bool isRunning() const { return running_; }
|
|
|
|
// Sport
|
|
bool StandUp();
|
|
bool StandDown();
|
|
bool Sit();
|
|
bool Lie();
|
|
bool Damp();
|
|
bool RecoveryStand();
|
|
bool StopMove();
|
|
bool BalanceStand();
|
|
bool Dance1();
|
|
bool Dance2();
|
|
bool Hello();
|
|
|
|
// Obstacle
|
|
bool SwitchSet(bool enable);
|
|
bool SwitchGet(bool& enable);
|
|
bool UseRemoteCommandFromApi(bool isRemoteCommandsFromApi);
|
|
bool MoveToAbsolutePosition(float x, float y, float yaw);
|
|
bool MoveToIncrementPosition(float x, float y, float yaw);
|
|
|
|
|
|
private:
|
|
std::unique_ptr<unitree::robot::go2::SportClient> sportClient_;
|
|
std::unique_ptr<unitree::robot::go2::ObstaclesAvoidClient> obstacleClient_;
|
|
|
|
std::atomic<bool> running_;
|
|
std::atomic<bool> initialized_;
|
|
std::string networkInterface_;
|
|
};
|
|
|
|
} // namespace custom
|