Class PyWalkWrapper

• Defined in File walk_pywrapper.hpp

Class Documentation

class PyWalkWrapper

Public Functions

explicit PyWalkWrapper(const std::string &ns, const std::vector<py::bytes> &walk_parameter_msgs = {}, const std::vector<py::bytes> &moveit_parameter_msgs = {}, bool force_smooth_step_transition = false)

py::bytes step(double dt, py::bytes &cmdvel_msg, py::bytes &imu_msg, py::bytes &jointstate_msg, py::bytes &pressure_left, py::bytes &pressure_right)

py::bytes step_relative(double dt, py::bytes &step_msg, py::bytes &imu_msg, py::bytes &jointstate_msg, py::bytes &pressure_left, py::bytes &pressure_right)

py::bytes step_open_loop(double dt, py::bytes &cmdvel_msg)

py::bytes get_left_foot_pose()

py::bytes get_right_foot_pose()

py::bytes get_odom()

void reset()

void special_reset(int state, double phase, py::bytes cmd_vel, bool reset_odometry)

void set_robot_state(int state)

void set_parameter(const py::bytes parameter_msg)

double get_phase()

double get_freq()

py::bytes get_support_state()

bool is_left_support()

void spin_some()

void publish_debug()

bool reset_and_test_if_speed_possible(py::bytes cmd_vel, double pos_threshold)

Private Members

rclcpp::Node::SharedPtr node_

std::shared_ptr<bitbots_quintic_walk::WalkNode> walk_node_