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main.cpp
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main.cpp
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/*****************************************************************************
BQR3 simulation
Copyright (C) 2023 Hua Wang [email protected].
This file is part of BQR3.
@file main.cpp
@brief main
Details.
@author Hua Wang
@email [email protected]
@version 1.0.0
@date 2023/12/25
@license NONE
-----------------------------------------------------------------------------
Remark : Description
-----------------------------------------------------------------------------
Change History :
<Date> | <Version> | <Author> | <Description>
-----------------------------------------------------------------------------
2023/12/25 | 1.0.0 | Hua Wang | Create file
-----------------------------------------------------------------------------
*****************************************************************************/
#include "bitbot_mujoco/kernel/mujoco_kernel.hpp"
#include "bitbot_mujoco/device/mujoco_joint.h"
#include "user_func.h"
#define _USE_MATH_DEFINES
#include <math.h>
int main(int argc, char const *argv[])
{
// 定义kernel对象，参数为配置文件
Kernel kernel("../../config/bitbot_quadruped_go2.xml");
// 注册Config函数
kernel.RegisterConfigFunc(&ConfigFunc);
// 注册Finish函数
kernel.RegisterFinishFunc(&FinishFunc);
// 注册event
kernel.RegisterEvent("waiting", static_cast<bitbot::StateId>(Events::Wait), &EventWait, true);
kernel.RegisterEvent("test", static_cast<bitbot::StateId>(Events::Test), &EventTest);
kernel.RegisterEvent("add", static_cast<bitbot::StateId>(Events::Add), &EventAdd, true);
kernel.RegisterEvent("minus", static_cast<bitbot::StateId>(Events::Minus), &EventMinus, true);
kernel.RegisterEvent("Trot", static_cast<bitbot::StateId>(Events::Trot), &EventTrot, true);
kernel.RegisterEvent("forwardMove", static_cast<bitbot::StateId>(Events::forwardMove), &EventForwardMove, true);
kernel.RegisterEvent("backMove", static_cast<bitbot::StateId>(Events::backMove), &EventBackMove, true);
kernel.RegisterEvent("leftMove", static_cast<bitbot::StateId>(Events::leftMove), &EventLeftMove, true);
kernel.RegisterEvent("rightMove", static_cast<bitbot::StateId>(Events::rightMove), &EventRightMove, true);
kernel.RegisterEvent("rightRotate", static_cast<bitbot::StateId>(Events::rightRotate), &EventRightRotate, true);
kernel.RegisterEvent("leftRotate", static_cast<bitbot::StateId>(Events::leftRotate), &EventLeftRotate, true);
kernel.RegisterEvent("stand", static_cast<bitbot::StateId>(Events::stand), &EventStand, true);
kernel.RegisterEvent("zeros", static_cast<bitbot::StateId>(Events::zeros), &EventZero, true);
kernel.RegisterEvent("UpMove", static_cast<bitbot::StateId>(Events::UpMove), &EventUpMove, true);
kernel.RegisterEvent("DownMove", static_cast<bitbot::StateId>(Events::DownMove), &EventDownMove, true);
kernel.RegisterEvent("fMove", static_cast<bitbot::StateId>(Events::fMove), &EventfMove, true);
kernel.RegisterEvent("bMove", static_cast<bitbot::StateId>(Events::bMove), &EventbMove, true);
kernel.RegisterEvent("LMove", static_cast<bitbot::StateId>(Events::LMove), &EventLMove, true);
kernel.RegisterEvent("RMove", static_cast<bitbot::StateId>(Events::RMove), &EventRMove, true);
kernel.RegisterEvent("planning", static_cast<bitbot::StateId>(Events::planning), &EventPlanning, true);
kernel.RegisterEvent("UpOrDown", static_cast<bitbot::StateId>(Events::UpOrDown), &EventUpOrDown, true);
// 注册state
// kernel.RegisterState("waiting", static_cast<bitbot::StateId>(States::Waiting), &StateWaiting, {
// static_cast<bitbot::StateId>(Events::Test)
// });
kernel.RegisterState("Run", static_cast<bitbot::StateId>(States::Run), &StateRun, {});
// 设置用户的第一个state
kernel.SetFirstState(static_cast<bitbot::StateId>(States::Run));
// 运行
kernel.Run();
return 0;
}