From b7a5cb830ea1fd0564546aa48282e4a64a30273f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 26 Jan 2019 05:39:05 +0900 Subject: [PATCH] first commit with bipedal --- Bipedal/bipedal_planner/bipedal_planner.py | 34 ++++++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 Bipedal/bipedal_planner/bipedal_planner.py diff --git a/Bipedal/bipedal_planner/bipedal_planner.py b/Bipedal/bipedal_planner/bipedal_planner.py new file mode 100644 index 00000000..350c912c --- /dev/null +++ b/Bipedal/bipedal_planner/bipedal_planner.py @@ -0,0 +1,34 @@ +import numpy + +class FootstepPlanner(object): + def __init__(self): + pass + + def plan(self, goal): + pass + +class BipedalPlanner(object): + def __init__(self): + self.footstep_planner = FootstepPlanner() + + ''' + self.footstep = [[0.0, 0.2], + [0.3, 0.2], + [0.3, 0.2], + [0.3, 0.2], + [0.3, 0.2], + [0.0, 0.2]] + ''' + + def set_footstep(self, footstep): + self.footstep = footstep + + def send_goal(self, goal): + footstep = self.footstep_planner.plan(goal) + if footstep != None: + self.footstep = footstep + +if __name__ == "__main__": + bipedal_planner = BipedalPlanner() + goal = None + bipedal_planner.send_goal(goal)