(
      self,
      robot: Any,
      gait_generator: Any,
      state_estimator: Any,
      desired_speed: Tuple[float, float],
      desired_twisting_speed: float,
      desired_height: float,
      foot_clearance: float,
  )
Initializes the class.

    Args:
      robot: A robot instance.
      gait_generator: Generates the stance/swing pattern.
      state_estimator: Estiamtes the CoM speeds.
      desired_speed: Behavior parameters. X-Y speed.
      desired_twisting_speed: Behavior control parameters.
      desired_height: Desired standing height.
      foot_clearance: The foot clearance on the ground at the end of the swing
        cycle.
Initializes the class.
Initializes the class .
def __init__(
      self,
      robot: Any,
      gait_generator: Any,
      state_estimator: Any,
      desired_speed: Tuple[float, float],
      desired_twisting_speed: float,
      desired_height: float,
      foot_clearance: float,
  ):
    """Initializes the class.

    Args:
      robot: A robot instance.
      gait_generator: Generates the stance/swing pattern.
      state_estimator: Estiamtes the CoM speeds.
      desired_speed: Behavior parameters. X-Y speed.
      desired_twisting_speed: Behavior control parameters.
      desired_height: Desired standing height.
      foot_clearance: The foot clearance on the ground at the end of the swing
        cycle.
    """
    self._robot = robot
    self._state_estimator = state_estimator
    self._gait_generator = gait_generator
    self._last_leg_state = gait_generator.desired_leg_state
    self.desired_speed = np.array((desired_speed[0], desired_speed[1], 0))
    self.desired_twisting_speed = desired_twisting_speed
    self._desired_height = np.array((0, 0, desired_height - foot_clearance))

    self._joint_angles = None
    self._phase_switch_foot_local_position = None
    self.reset(0)
def __init__ ( self , robot : Any , gait_generator : Any , state_estimator : Any , desired_speed : Tuple [ float , float ] , desired_twisting_speed : float , desired_height : float , foot_clearance : float , ) : self . _robot = robot self . _state_estimator = state_estimator self . _gait_generator = gait_generator self . _last_leg_state = gait_generator . desired_leg_state self . desired_speed = np . array ( ( desired_speed [ 0 ] , desired_speed [ 1 ] , 0 ) ) self . desired_twisting_speed = desired_twisting_speed self . _desired_height = np . array ( ( 0 , 0 , desired_height - foot_clearance ) ) self . _joint_angles = None self . _phase_switch_foot_local_position = None self . reset ( 0 )