init

unitree_SDK/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_api.hpp

@@ -0,0 +1,104 @@
+#ifndef __UT_ROBOT_GO2_OBSTACLES_AVOID_API_HPP__
+#define __UT_ROBOT_GO2_OBSTACLES_AVOID_API_HPP__
+
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace go2
+{
+const std::string ROBOT_OBSTACLES_AVOID_SERVICE_NAME = "obstacles_avoid";
+const std::string ROBOT_OBSTACLES_AVOID_API_VERSION = "1.0.0.2";
+
+const int32_t ROBOT_API_ID_OBSTACLES_AVOID_SWITCH_SET = 1001;
+const int32_t ROBOT_API_ID_OBSTACLES_AVOID_SWITCH_GET = 1002;
+const int32_t ROBOT_API_ID_OBSTACLES_AVOID_MOVE = 1003;
+const int32_t ROBOT_API_ID_OBSTACLES_AVOID_USE_REMOTE_COMMAND_FROM_API = 1004;
+
+class ObstaclesAvoidSwitchSetParameter : public common::Jsonize
+{
+public:
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["enable"], mEnable);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(mEnable, json["enable"]);
+    }
+
+    bool mEnable = true;
+};
+
+class ObstaclesAvoidSwitchGetData : public common::Jsonize
+{
+public:
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["enable"], mEnable);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(mEnable, json["enable"]);
+    }
+
+    bool mEnable = true;
+};
+
+class ObstaclesAvoidMoveParameter : public common::Jsonize
+{
+public:
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["x"], mX);
+        common::FromJson(json["y"], mY);
+        common::FromJson(json["yaw"], mYaw);
+        common::FromJson(json["mode"], mMode);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(mX, json["x"]);
+        common::ToJson(mY, json["y"]);
+        common::ToJson(mYaw, json["yaw"]);
+        common::ToJson(mMode, json["mode"]);
+    }
+
+    float mX = 0.0;
+    float mY = 0.0;
+    float mYaw = 0.0;
+
+    /*
+     * mode:
+     * 0 for vel
+     * 1 for increment pose
+     * 2 for absolute pose
+     */
+    int mMode = 0;
+};
+
+class ObstaclesAvoidRemoteCommandSource : public common::Jsonize
+{
+public:
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["is_remote_commands_from_api"], mIsRemoteCommandsFromApi);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(mIsRemoteCommandsFromApi, json["is_remote_commands_from_api"]);
+    }
+
+    bool mIsRemoteCommandsFromApi = true;
+};
+
+}
+}
+}
+
+#endif//__UT_ROBOT_GO2_OBSTACLES_AVOID_API_HPP__

unitree_SDK/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp

@@ -0,0 +1,33 @@
+#ifndef __UT_ROBOT_GO2_OBSTACLES_AVOID_CLIENT_HPP__
+#define __UT_ROBOT_GO2_OBSTACLES_AVOID_CLIENT_HPP__
+
+#include <unitree/robot/client/client.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace go2
+{
+class ObstaclesAvoidClient : public Client
+{
+public:
+    ObstaclesAvoidClient();
+    ~ObstaclesAvoidClient();
+
+    void Init();
+
+    int32_t SwitchSet(bool enable);
+    int32_t SwitchGet(bool& enable);
+
+    int32_t Move(float x, float y, float yaw);
+    int32_t UseRemoteCommandFromApi(bool isRemoteCommandsFromApi);
+
+    int32_t MoveToAbsolutePosition(float x, float y, float yaw);
+    int32_t MoveToIncrementPosition(float x, float y, float yaw);
+};
+}
+}
+}
+
+#endif//__UT_ROBOT_GO2_OBSTACLES_AVOID_CLIENT_HPP__