Example of walking gait

src/Gait.cpp

@@ -30,7 +30,7 @@ void Gait::initialize(double dt_in, double T_gait_in, double T_mpc_in, int N_gai
     if((n_steps_ > N_gait) || ((int)std::lround(T_gait_in / dt_in) > N_gait))
         throw std::invalid_argument("Sizes of matrices are too small for considered durations. Increase N_gait in config file.");
 
-    create_trot();
+    create_walk();
     create_gait_f();
 }
 

src/config_solo12.yaml

@@ -9,8 +9,8 @@ robot:
     envID: 0  # Identifier of the environment to choose in which one the simulation will happen
     velID: 2  # Identifier of the reference velocity profile to choose which one will be sent to the robot
     dt_mpc: 0.02  # Time step of the model predictive control
-    T_gait: 0.32  # Duration of one gait period
-    T_mpc: 0.32   # Duration of the prediction horizon
+    T_gait: 0.64  # Duration of one gait period
+    T_mpc: 0.64   # Duration of the prediction horizon
     N_SIMULATION: 3000  # Number of simulated wbc time steps
     type_MPC: true  # Which MPC solver you want to use: True to have PA's MPC, to False to have Thomas's MPC
     use_flat_plane: true  # If True the ground is flat, otherwise it has bumps

src/main.cpp

@@ -190,7 +190,7 @@ int main(int argc, char** argv) {
   std::cout << desiredGait_ << std::endl;
   std::cout << "##" << std::endl;
   */
-  Gait gait = Gait();
+  /*Gait gait = Gait();
   gait.initialize(0.02, 0.32, 0.16);
 
   std::cout << gait.getPastGait() << std::endl << "##" << std::endl;
@@ -204,7 +204,7 @@ int main(int argc, char** argv) {
     std::cout << gait.getPastGait() << std::endl << "##" << std::endl;
     std::cout << gait.getCurrentGait() << std::endl << "##" << std::endl;
     std::cout << gait.getDesiredGait() << std::endl << "##" << std::endl;
-  }
+  }*/
 
     return EXIT_SUCCESS;
   } else {