def get_walk_trajectory_three_positions(
self, is_swing_leg_left, step_length,
current_position_relative_to_initial_foot_position):
"""
when ``step_length`` can be set to half step length, the robot only take half step.
"""
ratio = step_length / self.step_length
walk_trajectory = WalkTrajectory(self.hip_offset,
self.lift_off_slope / ratio,
self.step_height, step_length,
self.put_down_slope / ratio)
lift_up_front_position = walk_trajectory.get_lift_front_position(
is_left=is_swing_leg_left,
foot_position_relative_to=
current_position_relative_to_initial_foot_position)
lift_up_front_forward_position = walk_trajectory.get_lift_up_front_forward_position(
lift_up_front_position)
put_down_position = walk_trajectory.get_put_down_position(
lift_up_front_forward_position)
return lift_up_front_position, lift_up_front_forward_position, put_down_position
def get_walk_trajectory_three_positions(self, is_swing_leg_left, step_length, current_position_relative_to_initial_foot_position):
"""
when ``step_length`` can be set to half step length, the robot only take half step.
"""
ratio = step_length / self.step_length
walk_trajectory = WalkTrajectory(self.hip_offset, self.lift_off_slope / ratio, self.step_height, step_length, self.put_down_slope / ratio)
lift_up_front_position = walk_trajectory.get_lift_front_position(is_left=is_swing_leg_left, foot_position_relative_to=current_position_relative_to_initial_foot_position)
lift_up_front_forward_position = walk_trajectory.get_lift_up_front_forward_position(lift_up_front_position)
put_down_position = walk_trajectory.get_put_down_position(lift_up_front_forward_position)
return lift_up_front_position, lift_up_front_forward_position, put_down_position
def _get_support_lower_limp_angles(self, is_support_leg_left,
swing_leg_foot_position):
opposite_ground_position = WalkTrajectory.project_to_opposite_ground(
Point(swing_leg_foot_position), is_left=is_support_leg_left)
support_lower_limp_angles = self._get_one_lower_limp_angles__with__both_tilted_torso_and_hip_offset_effect(
opposite_ground_position, is_left=is_support_leg_left)
return support_lower_limp_angles
def _get_support_lower_limp_angles(self, is_support_leg_left, swing_leg_foot_position):
opposite_ground_position = WalkTrajectory.project_to_opposite_ground(Point(swing_leg_foot_position), is_left=is_support_leg_left)
support_lower_limp_angles = self._get_one_lower_limp_angles__with__both_tilted_torso_and_hip_offset_effect(opposite_ground_position, is_left=is_support_leg_left)
return support_lower_limp_angles
