Add new gaits

include/qrw/Gait.hpp

@@ -120,6 +120,14 @@ class Gait {
   ////////////////////////////////////////////////////////////////////////////////////////////////
   void create_trot();
 
+  ////////////////////////////////////////////////////////////////////////////////////////////////
+  ///
+  /// \brief Create a trot gait with diagonaly opposed legs moving at the same time and some
+  ///        4-stance phases
+  ///
+  ////////////////////////////////////////////////////////////////////////////////////////////////
+  void create_walking_trot();
+
   ////////////////////////////////////////////////////////////////////////////////////////////////
   ///
   /// \brief Create a pacing gait with legs on the same side (left or right) moving at the same time
@@ -141,6 +149,20 @@ class Gait {
   ////////////////////////////////////////////////////////////////////////////////////////////////
   void create_static();
 
+  ////////////////////////////////////////////////////////////////////////////////////////////////
+  ///
+  /// \brief Create a transverse gallop gait
+  ///
+  ////////////////////////////////////////////////////////////////////////////////////////////////
+  void create_transverse_gallop();
+
+  ////////////////////////////////////////////////////////////////////////////////////////////////
+  ///
+  /// \brief Create a custom gallop gait
+  ///
+  ////////////////////////////////////////////////////////////////////////////////////////////////
+  void create_custom_gallop();
+
   ////////////////////////////////////////////////////////////////////////////////////////////////
   ///
   /// \brief Initialize content of the gait matrix based on the desired gait, the gait period and

src/Gait.cpp

@@ -40,13 +40,13 @@ void Gait::create_walk() {
   desiredGait_ = MatrixN::Zero(currentGait_.rows(), 4);
 
   Eigen::Matrix<double, 1, 4> sequence;
-  sequence << 0.0, 1.0, 1.0, 1.0;
+  sequence << 1.0, 0.0, 1.0, 0.0;
   desiredGait_.block(0, 0, N, 4) = sequence.colwise().replicate(N);
-  sequence << 1.0, 0.0, 1.0, 1.0;
+  sequence << 1.0, 0.0, 0.0, 1.0;
   desiredGait_.block(N, 0, N, 4) = sequence.colwise().replicate(N);
-  sequence << 1.0, 1.0, 0.0, 1.0;
+  sequence << 0.0, 1.0, 0.0, 1.0;
   desiredGait_.block(2 * N, 0, N, 4) = sequence.colwise().replicate(N);
-  sequence << 1.0, 1.0, 1.0, 0.0;
+  sequence << 0.0, 1.0, 1.0, 0.0;
   desiredGait_.block(3 * N, 0, N, 4) = sequence.colwise().replicate(N);
 }
 
@@ -63,6 +63,24 @@ void Gait::create_trot() {
   desiredGait_.block(N, 0, N, 4) = sequence.colwise().replicate(N);
 }
 
+void Gait::create_walking_trot() {
+  // Number of timesteps in a half period of gait
+  int N = (int)std::lround(0.5 * T_gait_ / dt_);
+
+  desiredGait_ = MatrixN::Zero(currentGait_.rows(), 4);
+
+  int M = 8;
+  Eigen::Matrix<double, 1, 4> sequence;
+  sequence << 1.0, 0.0, 0.0, 1.0;
+  desiredGait_.block(0, 0, N-M, 4) = sequence.colwise().replicate(N);
+  sequence << 1.0, 1.0, 1.0, 1.0;
+  desiredGait_.block(N-M, 0, M, 4) = sequence.colwise().replicate(N);
+  sequence << 0.0, 1.0, 1.0, 0.0;
+  desiredGait_.block(N, 0, N-M, 4) = sequence.colwise().replicate(N);
+  sequence << 1.0, 1.0, 1.0, 1.0;
+  desiredGait_.block(2*N-M, 0, M, 4) = sequence.colwise().replicate(N);
+}
+
 void Gait::create_pacing() {
   // Number of timesteps in a half period of gait
   int N = (int)std::lround(0.5 * T_gait_ / dt_);
@@ -100,6 +118,41 @@ void Gait::create_static() {
   desiredGait_.block(0, 0, N, 4) = sequence.colwise().replicate(N);
 }
 
+void Gait::create_transverse_gallop() {
+  // Number of timesteps in a half period of gait
+  int N = (int)std::lround(0.25 * T_gait_ / dt_);
+
+  desiredGait_ = MatrixN::Zero(currentGait_.rows(), 4);
+
+  Eigen::Matrix<double, 1, 4> sequence;
+  sequence << 0.0, 0.0, 1.0, 0.0;
+  desiredGait_.block(0, 0, N, 4) = sequence.colwise().replicate(N);
+  sequence << 1.0, 0.0, 0.0, 0.0;
+  desiredGait_.block(N, 0, N, 4) = sequence.colwise().replicate(N);
+  sequence << 0.0, 0.0, 0.0, 1.0;
+  desiredGait_.block(2*N, 0, N, 4) = sequence.colwise().replicate(N);
+  sequence << 0.0, 1.0, 0.0, 0.0;
+  desiredGait_.block(3*N, 0, N, 4) = sequence.colwise().replicate(N);
+}
+
+void Gait::create_custom_gallop() {
+  // Number of timesteps in a half period of gait
+  int N = (int)std::lround(0.25 * T_gait_ / dt_);
+
+  desiredGait_ = MatrixN::Zero(currentGait_.rows(), 4);
+
+  Eigen::Matrix<double, 1, 4> sequence;
+  sequence << 1.0, 0.0, 1.0, 0.0;
+  desiredGait_.block(0, 0, N, 4) = sequence.colwise().replicate(N);
+  sequence << 1.0, 0.0, 0.0, 1.0;
+  desiredGait_.block(N, 0, N, 4) = sequence.colwise().replicate(N);
+  sequence << 0.0, 1.0, 0.0, 1.0;
+  desiredGait_.block(2*N, 0, N, 4) = sequence.colwise().replicate(N);
+  sequence << 0.0, 1.0, 1.0, 0.0;
+  desiredGait_.block(3*N, 0, N, 4) = sequence.colwise().replicate(N);
+}
+
+
 void Gait::create_gait_f() {
   int i = 0;