Class Custom

TextOpDeploy/src/unitree_mujoco/example/cpp/stand_go2.cpp:21–52

constexpr double VelStopF = (16000.0f);

class Custom
{
public:
    Custom(){};
    ~Custom(){};
    void Init();

private:
    void InitLowCmd();
    void LowStateMessageHandler(const void *messages);
    void LowCmdWrite();

private:
    double stand_up_joint_pos[12] = {0.00571868, 0.608813, -1.21763, -0.00571868, 0.608813, -1.21763,
                                     0.00571868, 0.608813, -1.21763, -0.00571868, 0.608813, -1.21763};
    double stand_down_joint_pos[12] = {0.0473455, 1.22187, -2.44375, -0.0473455, 1.22187, -2.44375, 0.0473455,
                                       1.22187, -2.44375, -0.0473455, 1.22187, -2.44375};
    double dt = 0.002;
    double runing_time = 0.0;
    double phase = 0.0;

    unitree_go::msg::dds_::LowCmd_ low_cmd{};     // default init
    unitree_go::msg::dds_::LowState_ low_state{}; // default init

    /*publisher*/
    ChannelPublisherPtr<unitree_go::msg::dds_::LowCmd_> lowcmd_publisher;
    /*subscriber*/
    ChannelSubscriberPtr<unitree_go::msg::dds_::LowState_> lowstate_subscriber;

    /*LowCmd write thread*/
    ThreadPtr lowCmdWriteThreadPtr;
};

uint32_t crc32_core(uint32_t *ptr, uint32_t len)
{