initial commit

state_machine/parameters/control_parameters.h

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+/**
+ * @file control_parameters.h
+ * @brief basic control parameters
+ * @author DeepRobotics
+ * @version 1.0
+ * @date 2025-11-07
+ * 
+ * @copyright Copyright (c) 2025  DeepRobotics
+ * 
+ */
+#pragma once
+
+#include "common_types.h"
+#include "custom_types.h"
+
+using namespace types;
+
+class ControlParameters
+{
+private:
+    void GenerateM20Parameters();
+    void GenerateFireAntParameters();
+public:
+    ControlParameters(RobotName robot_name){
+        if(robot_name==RobotName::M20) GenerateM20Parameters();
+        else if(robot_name==RobotName::FireAnt) GenerateFireAntParameters();
+        else{
+            std::cerr << "Not Deafult Robot" << std::endl;
+            exit(0);
+        }
+    }
+    ~ControlParameters(){}
+
+    /**
+     * @brief robot link length
+     */
+    float body_len_x_, body_len_y_;
+    float hip_len_, thigh_len_, shank_len_;
+
+    /**
+     * @brief stand height configure
+     */
+    float pre_height_, stand_height_; 
+
+    /**
+     * @brief one leg joint PD gain
+     */
+    Vec3f swing_leg_kp_, swing_leg_kd_;
+
+    /**
+     * @brief joint position limitation
+     */
+    Vec3f fl_joint_lower_, fl_joint_upper_;
+
+    /**
+     * @brief joint velocity limitation
+     */
+    Vec3f joint_vel_limit_;
+
+    /**
+     * @brief joint torque limitation
+     */
+    Vec3f torque_limit_;
+    
+    /**
+     * @brief stand up duration
+     */
+    float stand_duration_ = 1.5;
+
+    /**
+     * @brief lie down duration
+     */
+    float liedown_duration_ = 2.0;
+
+    /**
+     * @brief wheel vel limit for wheel-legged robot
+     */
+    float wheel_vel_limit_ = 100;
+    
+    /**
+     * @brief wheel link length to shank
+     */
+    float wheel_link_len_ = 0.040575;
+
+    /**
+     * @brief policy path
+     */
+    std::string common_policy_path_;
+    Vec3f common_policy_p_gain_, common_policy_d_gain_;
+};

state_machine/parameters/fire_ant_control_parameters.cpp

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+#include "control_parameters.h"
+
+void ControlParameters::GenerateFireAntParameters(){
+    body_len_x_ = 0.60f;
+    body_len_y_ = 0.32f;
+    hip_len_ = 0.0f;
+    thigh_len_ = 0.0f;
+    shank_len_ = 0.21f;
+    pre_height_ = 0.306f;
+    stand_height_ = 0.306f;
+    swing_leg_kp_ << 80.0f, 80.0f, 80.0f;
+    swing_leg_kd_ << 2.0f, 2.0f, 2.0f;
+    fl_joint_lower_ << -2.792f, -2.792f, -2.809f;
+    fl_joint_upper_ << 2.809f, 2.809f, 2.792f;
+    joint_vel_limit_ << 17.8024f, 17.8024f, 17.8024f;
+    torque_limit_ << 75.0f, 75.0f, 75.0f;
+    wheel_vel_limit_ = 109.956f;
+    wheel_link_len_ = 0.21f;
+    stand_duration_ = 1.5f;
+    liedown_duration_ = 2.0f;
+}

state_machine/parameters/m20_control_parameters.cpp

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+#include "control_parameters.h"
+
+void ControlParameters::GenerateM20Parameters(){
+    body_len_x_ = 0.3095*2;
+    body_len_y_ = 0.065*2;
+    hip_len_ = 0.104;
+    thigh_len_ = 0.25;
+    shank_len_ = 0.25;
+    pre_height_ = 0.12;
+    stand_height_ = 0.38;
+    swing_leg_kp_ << 200., 200., 200.;
+    swing_leg_kd_ << 4., 4., 4.;
+
+    fl_joint_lower_ << -0.4363, -2.443, -2.758;
+    fl_joint_upper_ << 0.6109, 2.443, 2.758;
+    joint_vel_limit_ << 45, 22.4, 22.4;
+    torque_limit_ << 32.4, 76.4, 76.4;
+}