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walk.py
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walk.py
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from _motion import (MotionInterface,
BodyJointCommand,
HeadJointCommand,
HeadScanCommand,
WalkCommand,
#WalkParameters,
WALK_STRAIGHT,
WALK_SIDEWAYS,
WALK_TURN,
WALK_ARC,
DEFAULT_SAMPLES_PER_STEP,
)
class WalkStraight(WalkCommand):
def __init__(self, dist, samples=DEFAULT_SAMPLES_PER_STEP):
WalkCommand.__init__(self, WALK_STRAIGHT, dist, samples)
class WalkSideways(WalkCommand):
def __init__(self, dist, samples=DEFAULT_SAMPLES_PER_STEP):
WalkCommand.__init__(self, WALK_SIDEWAYS, dist, samples)
class WalkTurn(WalkCommand):
def __init__(self, angle, samples=DEFAULT_SAMPLES_PER_STEP):
WalkCommand.__init__(self, WALK_TURN, angle, samples)
class WalkArc(WalkCommand):
def __init__(self, angle, radius, samples=DEFAULT_SAMPLES_PER_STEP):
WalkCommand.__init__(self, WALK_ARC, angle, radius, samples)