init

unitree_SDK/include/unitree/robot/go2/sport/sport_api.hpp

@@ -0,0 +1,64 @@
+#ifndef __UT_ROBOT_GO2_SPORT_API_HPP__
+#define __UT_ROBOT_GO2_SPORT_API_HPP__
+
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace go2
+{
+/*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_EULER              = 1007;
+const int32_t ROBOT_SPORT_API_ID_MOVE               = 1008;
+const int32_t ROBOT_SPORT_API_ID_SIT                = 1009;
+const int32_t ROBOT_SPORT_API_ID_RISESIT            = 1010;
+const int32_t ROBOT_SPORT_API_ID_SPEEDLEVEL         = 1015;
+const int32_t ROBOT_SPORT_API_ID_HELLO              = 1016;
+const int32_t ROBOT_SPORT_API_ID_STRETCH            = 1017;
+const int32_t ROBOT_SPORT_API_ID_CONTENT            = 1020;
+const int32_t ROBOT_SPORT_API_ID_DANCE1             = 1022;
+const int32_t ROBOT_SPORT_API_ID_DANCE2             = 1023;
+const int32_t ROBOT_SPORT_API_ID_SWITCHJOYSTICK     = 1027;
+const int32_t ROBOT_SPORT_API_ID_POSE               = 1028;
+const int32_t ROBOT_SPORT_API_ID_SCRAPE             = 1029;
+const int32_t ROBOT_SPORT_API_ID_FRONTFLIP          = 1030;
+const int32_t ROBOT_SPORT_API_ID_FRONTJUMP          = 1031;
+const int32_t ROBOT_SPORT_API_ID_FRONTPOUNCE        = 1032;
+const int32_t ROBOT_SPORT_API_ID_HEART              = 1036;
+const int32_t ROBOT_SPORT_API_ID_STATICWALK         = 1061;
+const int32_t ROBOT_SPORT_API_ID_TROTRUN            = 1062;
+const int32_t ROBOT_SPORT_API_ID_ECONOMICGAIT       = 1063;
+const int32_t ROBOT_SPORT_API_ID_LEFTFLIP           = 2041;
+const int32_t ROBOT_SPORT_API_ID_BACKFLIP           = 2043;
+const int32_t ROBOT_SPORT_API_ID_HANDSTAND          = 2044;
+const int32_t ROBOT_SPORT_API_ID_FREEWALK           = 2045;
+const int32_t ROBOT_SPORT_API_ID_FREEBOUND          = 2046;
+const int32_t ROBOT_SPORT_API_ID_FREEJUMP           = 2047;
+const int32_t ROBOT_SPORT_API_ID_FREEAVOID          = 2048;
+const int32_t ROBOT_SPORT_API_ID_CLASSICWALK        = 2049;
+const int32_t ROBOT_SPORT_API_ID_WALKUPRIGHT        = 2050;
+const int32_t ROBOT_SPORT_API_ID_CROSSSTEP          = 2051;
+const int32_t ROBOT_SPORT_API_ID_AUTORECOVERY_SET   = 2054;
+const int32_t ROBOT_SPORT_API_ID_AUTORECOVERY_GET   = 2055;
+const int32_t ROBOT_SPORT_API_ID_SWITCHAVOIDMODE    = 2058;
+
+
+}
+}
+}
+
+#endif //__UT_ROBOT_GO2_SPORT_API_HPP__

unitree_SDK/include/unitree/robot/go2/sport/sport_client.hpp

@@ -0,0 +1,86 @@
+#ifndef __UT_ROBOT_GO2_SPORT_CLIENT_HPP__
+#define __UT_ROBOT_GO2_SPORT_CLIENT_HPP__
+
+#include <unitree/robot/client/client.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace go2
+{
+/*
+ * 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 Euler(float roll, float pitch, float yaw);
+    int32_t Move(float vx, float vy, float vyaw);
+    int32_t Sit();
+    int32_t RiseSit();
+    int32_t SpeedLevel(int level);
+    int32_t Hello();
+    int32_t Stretch();
+    int32_t SwitchJoystick(bool flag);
+    int32_t Content();
+    int32_t Heart();
+    int32_t Pose(bool flag);
+    int32_t Scrape();
+    int32_t FrontFlip();
+    int32_t FrontJump();
+    int32_t FrontPounce();
+    int32_t Dance1();
+    int32_t Dance2();
+    int32_t LeftFlip();
+    int32_t BackFlip();
+    int32_t HandStand(bool flag);
+    int32_t FreeWalk();
+    int32_t FreeBound(bool flag);
+    int32_t FreeJump(bool flag);
+    int32_t FreeAvoid(bool flag);
+    int32_t ClassicWalk(bool flag);
+    int32_t WalkUpright(bool flag);
+    int32_t CrossStep(bool flag);
+    int32_t AutoRecoverSet(bool flag);
+    int32_t AutoRecoverGet(bool& flag);
+    int32_t StaticWalk();
+    int32_t TrotRun();
+    int32_t EconomicGait();
+    int32_t SwitchAvoidMode();
+
+
+
+};
+}
+}
+}
+
+#endif//__UT_ROBOT_GO2_SPORT_CLIENT_HPP__

unitree_SDK/include/unitree/robot/go2/sport/sport_error.hpp

@@ -0,0 +1,19 @@
+#ifndef __UT_ROBOT_GO2_SPORT_ERROR_HPP__
+#define __UT_ROBOT_GO2_SPORT_ERROR_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace go2
+{
+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_GO2_SPORT_ERROR_HPP__