private void updateXGaitSettings() {
xGaitSettingsProvider.getSettings(xGaitSettings);
// increase stance dimensions as a function of velocity to prevent self collisions
double strideRotation = planarVelocityProvider.get().getZ() * xGaitSettings.getStepDuration();
double strideLength =
Math.abs(2 * planarVelocityProvider.get().getX() * xGaitSettings.getStepDuration());
double strideWidth =
Math.abs(2 * planarVelocityProvider.get().getY() * xGaitSettings.getStepDuration());
strideLength += Math.abs(xGaitSettings.getStanceWidth() / 2 * Math.sin(2 * strideRotation));
strideWidth += Math.abs(xGaitSettings.getStanceLength() / 2 * Math.sin(2 * strideRotation));
xGaitSettings.setStanceLength(
Math.max(
xGaitSettings.getStanceLength(),
strideLength / 2 + minimumStepClearanceParameter.get()));
xGaitSettings.setStanceWidth(
Math.max(
xGaitSettings.getStanceWidth(), strideWidth / 2 + minimumStepClearanceParameter.get()));
}
