30 lines
855 B
C++
30 lines
855 B
C++
/************************************************************************
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Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
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Use of this source code is governed by the MPL-2.0 license, see LICENSE.
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************************************************************************/
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#ifndef __BODY_H__
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#define __BODY_H__
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#include "ros/ros.h"
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#include "unitree_legged_msgs/LowCmd.h"
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#include "unitree_legged_msgs/LowState.h"
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#include "unitree_legged_msgs/HighState.h"
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#define PosStopF (2.146E+9f)
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#define VelStopF (16000.f)
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namespace unitree_model {
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extern ros::Publisher servo_pub[12];
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extern ros::Publisher highState_pub;
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extern unitree_legged_msgs::LowCmd lowCmd;
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extern unitree_legged_msgs::LowState lowState;
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void stand();
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void motion_init();
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void sendServoCmd();
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void moveAllPosition(double* jointPositions, double duration);
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}
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#endif
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