#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;
}