CMPackWalkMC::LegParam Struct Reference

holds parameters about how to move each leg More...

#include <CMPackWalkMC.h>

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Detailed Description

holds parameters about how to move each leg

Definition at line 84 of file CMPackWalkMC.h.

List of all members.

Public Member Functions
	LegParam ()
	constructor
Public Attributes
vector3d	neutral
	defines the "neutral" point of each leg - where it is in midstep
vector3d	lift_vel
	give the velocities to use when raising the paw
vector3d	down_vel
	give the velocities to use when lowering the paw
double	lift_time
	the time (as percentage of WalkParam::period) in the cycle to lift (so you can set different offsets between the paws)
double	down_time
	the time (as percentage of WalkParam::period) in the cycle to put down (so you can set different offsets between the paws)

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Constructor & Destructor Documentation

CMPackWalkMC::LegParam::LegParam

(

)

constructor

Definition at line 85 of file CMPackWalkMC.h.

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Member Data Documentation

double CMPackWalkMC::LegParam::down_time

the time (as percentage of WalkParam::period) in the cycle to put down (so you can set different offsets between the paws)

Definition at line 90 of file CMPackWalkMC.h.

Referenced by CMPackWalkMC::loadBuffer(), CMPackWalkMC::saveBuffer(), CMPackWalkMC::setTargetVelocity(), and CMPackWalkMC::updateOutputs().

vector3d CMPackWalkMC::LegParam::down_vel

give the velocities to use when lowering the paw

Definition at line 88 of file CMPackWalkMC.h.

Referenced by CMPackWalkMC::loadBuffer(), CMPackWalkMC::saveBuffer(), and CMPackWalkMC::updateOutputs().

double CMPackWalkMC::LegParam::lift_time

the time (as percentage of WalkParam::period) in the cycle to lift (so you can set different offsets between the paws)

Definition at line 89 of file CMPackWalkMC.h.

Referenced by CMPackWalkMC::loadBuffer(), CMPackWalkMC::saveBuffer(), CMPackWalkMC::setTargetVelocity(), and CMPackWalkMC::updateOutputs().

vector3d CMPackWalkMC::LegParam::lift_vel

give the velocities to use when raising the paw

Definition at line 87 of file CMPackWalkMC.h.

Referenced by CMPackWalkMC::loadBuffer(), CMPackWalkMC::saveBuffer(), and CMPackWalkMC::updateOutputs().

vector3d CMPackWalkMC::LegParam::neutral

defines the "neutral" point of each leg - where it is in midstep

Definition at line 86 of file CMPackWalkMC.h.

Referenced by CMPackWalkMC::loadBuffer(), CMPackWalkMC::saveBuffer(), and CMPackWalkMC::updateOutputs().

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The documentation for this struct was generated from the following file:

• CMPackWalkMC.h