30 lines
605 B
C++
30 lines
605 B
C++
#pragma once
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#include "Planner/Planner.hpp"
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class ReactivePlanner : public Planner {
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public:
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ReactivePlanner();
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ReactivePlanner(std::string name);
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~ReactivePlanner() {}
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vec3 getDesiredFootPosition(const uint8_t&, const float&) override;
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// void SetBaseTarget () override;
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void setTarget() override;
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void initClass();
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private:
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// std_msgs::Float32MultiArray m_p_cs_phi;
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Eigen::MatrixXd getVPSPVertices(const float& t);
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double getVPSPStabilityMargin();
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std::string m_name;
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bool use_vpsp = true;
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bool m_use_capture_point_heuristic = true;
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}; |