bot.h File Reference

#include "unitree_legged_sdk/unitree_legged_sdk.h"
#include <Eigen/Dense>
#include <functional>
#include <cmath>
#include "utils.h"

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Classes
struct	InstructionOutput
class	Bot

Typedefs
using	Instruction = std::function< InstructionOutput(Pose, a1::HighState)>
	Lambda that takes in initial state and current state (in that order) and outputs a command for the current timestamp and whether the action is done. More...

Variables
constexpr double	pi = M_PI

Typedef Documentation

Instruction

using Instruction = std::function<InstructionOutput(Pose, a1::HighState)>

Lambda that takes in initial state and current state (in that order) and outputs a command for the current timestamp and whether the action is done.

See also

Bot::RobotControl()

Variable Documentation

pi

constexpr double pi = M_PI