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