sit_down.h

Go to the documentation of this file.

//
// Created by guanlin on 25-9-3.
//
 
#pragma once
 
#include <hardware_interface/joint_command_interface.h>
#include <control_toolbox/pid.h>
 
#include "bipedal_wheel_controller/controller_mode/mode_base.h"
#include "bipedal_wheel_controller/definitions.h"
 
namespace rm_chassis_controllers
{
class SitDown : public ModeBase
{
public:
  explicit SitDown(BipedalControllerInterface* controller_,
                   const std::vector<hardware_interface::JointHandle*>& joint_handles,
                   const std::vector<control_toolbox::Pid*>& pid_wheels);
  void execute(const ros::Time& time, const ros::Duration& period) override;
  const char* name() const override
  {
    return "SIT_DOWN";
  }
 
private:
  std::vector<hardware_interface::JointHandle*> joint_handles_;
  std::vector<control_toolbox::Pid*> pid_wheels_;
};
}  // namespace rm_chassis_controllers