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hexapod_ng/legacy/linux/liblicks/include/dynamic_sequencer.h

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  1. #ifndef LICKS_DYNAMIC_SEQUENCER_H

  2. #define LICKS_DYNAMIC_SEQUENCER_H

  3. 

  4. #include <stdint.h>

  5. #include "linalg.h"

  6. #include "ik.h"

  7. 

  8. typedef enum { seq_nop=0, seq_move_body, seq_rotate_body, seq_move_leg, seq_rotate_leg, seq_move_leg_parabolic, seq_walk } sequencer_command;

  9. 

  10. typedef struct {

  11.    sequencer_command 	command;

  12. 

  13.    uint32_t 		frame_delay;

  14.    uint32_t 		frame_duration;

  15.    uint32_t 		frame_t;

  16. 

  17.    vector3d 		arg_vector3d;

  18.    int 			arg_int;

  19.    double		arg_double;

  20.    void			*arg_pointer;

  21.    void			*arg_pointer2;

  22.    

  23. } sequencer_entry;

  24. 

  25. typedef struct {

  26.    double	step_height;

  27.    int		step_duration;

  28.    

  29.    vector3d 	step_direction;

  30.    double	step_rotation;

  31.    

  32.    vector3d 	last_step_direction;

  33.    double	last_step_rotation;

  34.    

  35. } sequencer_walk_parameters;

  36. 

  37. extern void sequencer_init();

  38. extern void sequencer_dump();

  39. extern void sequencer_run_frame(bot *b);

  40. 

  41. extern sequencer_entry *sequencer_new_entry();

  42. extern void sequencer_move_body(int,int,vector3d *);

  43. extern void sequencer_rotate_body(int,int,vector3d *);

  44. extern void sequencer_rotate_deg_body(int,int,vector3d *);

  45. extern void sequencer_move_leg(int,int,int,vector3d *);

  46. extern void sequencer_rotate_leg(int, int, int, vector3d *);

  47. extern void sequencer_move_leg_parabolic(int,int,int,vector3d *);

  48. extern void sequencer_tripod_walk(int,int,vector3d *, double,double, int);

  49. extern void sequencer_walk(sequencer_walk_parameters *p);

  50. #endif

  51.