init

unitree_SDK/include/unitree/robot/b2/sport/sport_api.hpp

@@ -0,0 +1,45 @@
+#ifndef __UT_ROBOT_B2_SPORT_API_HPP__
+#define __UT_ROBOT_B2_SPORT_API_HPP__
+
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+/*service name*/
+const std::string ROBOT_SPORT_SERVICE_NAME = "sport";
+
+/*api version*/
+const std::string ROBOT_SPORT_API_VERSION = "1.0.0.1";
+
+/*api id*/
+const int32_t ROBOT_SPORT_API_ID_DAMP              = 1001;
+const int32_t ROBOT_SPORT_API_ID_BALANCESTAND      = 1002;
+const int32_t ROBOT_SPORT_API_ID_STOPMOVE          = 1003;
+const int32_t ROBOT_SPORT_API_ID_STANDUP           = 1004;
+const int32_t ROBOT_SPORT_API_ID_STANDDOWN         = 1005;
+const int32_t ROBOT_SPORT_API_ID_RECOVERYSTAND     = 1006;
+const int32_t ROBOT_SPORT_API_ID_MOVE              = 1008;
+const int32_t ROBOT_SPORT_API_ID_SWITCHGAIT        = 1011;
+const int32_t ROBOT_SPORT_API_ID_BODYHEIGHT        = 1013;
+const int32_t ROBOT_SPORT_API_ID_SPEEDLEVEL        = 1015;
+const int32_t ROBOT_SPORT_API_ID_TRAJECTORYFOLLOW  = 1018;
+const int32_t ROBOT_SPORT_API_ID_CONTINUOUSGAIT    = 1019;
+const int32_t ROBOT_SPORT_API_ID_MOVETOPOS            = 1036;
+const int32_t ROBOT_SPORT_API_ID_SWITCHMOVEMODE       = 1038;
+const int32_t ROBOT_SPORT_API_ID_VISIONWALK        = 1101;
+const int32_t ROBOT_SPORT_API_ID_HANDSTAND       = 1039;
+const int32_t ROBOT_SPORT_API_ID_AUTORECOVERY_SET = 1040;
+const int32_t ROBOT_SPORT_API_ID_FREEWALK  = 1045;
+const int32_t ROBOT_SPORT_API_ID_CLASSICWALK = 1049;
+const int32_t ROBOT_SPORT_API_ID_FASTWALK  = 1050;
+const int32_t ROBOT_SPORT_API_ID_FREEEULER = 1051;
+
+}
+}
+}
+
+#endif //__UT_ROBOT_B2_SPORT_API_HPP__

unitree_SDK/include/unitree/robot/b2/sport/sport_client.hpp

@@ -0,0 +1,86 @@
+#ifndef __UT_ROBOT_B2_SPORT_CLIENT_HPP__
+#define __UT_ROBOT_B2_SPORT_CLIENT_HPP__
+
+#include <unitree/robot/client/client.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+/*
+ * PathPoint
+ */
+struct stPathPoint
+{
+  float timeFromStart;
+  float x;
+  float y;
+  float yaw;
+  float vx;
+  float vy;
+  float vyaw;
+};
+
+typedef struct stPathPoint PathPoint;
+
+/*
+ * SportClient
+ */
+class SportClient : public Client
+{
+public:
+    explicit SportClient(bool enableLease = false);
+    ~SportClient();
+
+    void Init();
+    
+    int32_t Damp();
+    
+    int32_t BalanceStand();
+
+    int32_t StopMove();
+
+    int32_t StandUp();
+    
+    int32_t StandDown();
+    
+    int32_t RecoveryStand();
+    
+    int32_t Move(float vx, float vy, float vyaw);
+    
+    int32_t SwitchGait(int d);
+
+    int32_t BodyHeight(float height);
+    
+    int32_t SpeedLevel(int level);
+    
+    int32_t TrajectoryFollow(std::vector<unitree::robot::b2::PathPoint> &path);
+
+    int32_t ContinuousGait(bool flag);
+
+    int32_t MoveToPos(float x, float y, float yaw);
+    
+    int32_t SwitchMoveMode(bool flag);
+    
+    int32_t VisionWalk(bool flag);
+
+    int32_t HandStand(bool flag);
+
+    int32_t AutoRecoverySet(bool flag);
+
+    int32_t FreeWalk();
+
+    int32_t ClassicWalk(bool flag);
+
+    int32_t FastWalk(bool flag);
+
+    int32_t Euler(float roll, float pitch, float yaw);
+    
+};
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_SPORT_CLIENT_HPP__

unitree_SDK/include/unitree/robot/b2/sport/sport_error.hpp

@@ -0,0 +1,19 @@
+#ifndef __UT_ROBOT_B2_SPORT_ERROR_HPP__
+#define __UT_ROBOT_B2_SPORT_ERROR_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+UT_DECL_ERR(UT_ROBOT_SPORT_ERR_CLIENT_POINT_PATH,   4101,   "point path error.")
+UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_OVERTIME,   4201,   "server overtime.")
+UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_NOT_INIT,   4205,   "server function not init.")
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_SPORT_ERROR_HPP__