Aggiunte e modifiche per lower_body

src/collections/methods/lower_body.cpp

@@ -0,0 +1,23 @@
+#include "../headers/lower_body.hpp"
+
+Lower_Body::Lower_Body(std::vector<gamba_data> data){
+    if (data.size() != 2) throw "Lower_Body_Error: data vector size must be 2";
+    sx = new Gamba({0,0,150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
+    dx = new Gamba({0,0,150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
+    t = new Torso({0,100,0},_Float16(3.0));
+
+    PieceInterface* psx = sx->getJointPiece();
+    PieceInterface* pdx = dx->getJointPiece();
+
+    jsx = new PivotJoint(t, {psx}, rb::Vector3{0,-100,50});
+    jdx = new PivotJoint(t, {pdx}, rb::Vector3{0,100,50});
+}
+
+
+collection Lower_Body::create(ReferencePlane plane){
+    collection coll;
+    coll = coll + sx->create(plane);
+    coll = coll + dx->create(plane);
+
+
+}