File hexapod.hpp

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#ifndef ROBOT_DART_ROBOTS_HEXAPOD_HPP
#define ROBOT_DART_ROBOTS_HEXAPOD_HPP

#include "robot_dart/robot.hpp"

namespace robot_dart {
    namespace robots {
        class Hexapod : public Robot {
        public:
            Hexapod(const std::string& urdf = "pexod.urdf") : Robot(urdf)
            {
                set_position_enforced(true);
                skeleton()->enableSelfCollisionCheck();
                set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));
            }

            void reset() override
            {
                Robot::reset();
                set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));
            }
        };
    } // namespace robots
} // namespace robot_dart
#endif