public bool GaitSelect()
{
switch (_gaitType)
{
case GaitType.RippleGait12:
_gaitLegNumber[Lr] = 1;
_gaitLegNumber[Rf] = 3;
_gaitLegNumber[Lm] = 5;
_gaitLegNumber[Rr] = 7;
_gaitLegNumber[Lf] = 9;
_gaitLegNumber[Rm] = 11;
_numberOfLiftedPositions = 3;
_halfLiftHeight = 3;
_tlDivisionFactor = 8;
_stepsInGait = 12;
break;
case GaitType.Tripod8:
_gaitLegNumber[Lr] = 5;
_gaitLegNumber[Rf] = 1;
_gaitLegNumber[Lm] = 1;
_gaitLegNumber[Rr] = 1;
_gaitLegNumber[Lf] = 5;
_gaitLegNumber[Rm] = 5;
_numberOfLiftedPositions = 3;
_halfLiftHeight = 3;
_tlDivisionFactor = 4;
_stepsInGait = 8;
break;
case GaitType.TripleTripod12:
_gaitLegNumber[Rf] = 3;
_gaitLegNumber[Lm] = 4;
_gaitLegNumber[Rr] = 5;
_gaitLegNumber[Lf] = 9;
_gaitLegNumber[Rm] = 10;
_gaitLegNumber[Lr] = 11;
_numberOfLiftedPositions = 3;
_halfLiftHeight = 3;
_tlDivisionFactor = 8;
_stepsInGait = 12;
break;
case GaitType.TripleTripod16:
_gaitLegNumber[Rf] = 4;
_gaitLegNumber[Lm] = 5;
_gaitLegNumber[Rr] = 6;
_gaitLegNumber[Lf] = 12;
_gaitLegNumber[Rm] = 13;
_gaitLegNumber[Lr] = 14;
_numberOfLiftedPositions = 5;
_halfLiftHeight = 1;
_tlDivisionFactor = 10;
_stepsInGait = 16;
break;
case GaitType.Wave24:
_gaitLegNumber[Lr] = 1;
_gaitLegNumber[Rf] = 21;
_gaitLegNumber[Lm] = 5;
_gaitLegNumber[Rr] = 13;
_gaitLegNumber[Lf] = 9;
_gaitLegNumber[Rm] = 17;
_numberOfLiftedPositions = 3;
_halfLiftHeight = 3;
_tlDivisionFactor = 20;
_stepsInGait = 24;
break;
}
_liftDivisionFactor = _numberOfLiftedPositions == 5 ? 4 : 2;
return true;
}