XWalkParameters::LegParameters Class Reference

Specifies parameters for each leg. More...

#include <XWalkParameters.h>

Inheritance diagram for XWalkParameters::LegParameters:

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Detailed Description

Specifies parameters for each leg.

Definition at line 134 of file XWalkParameters.h.

List of all members.

Public Member Functions
	LegParameters ()
	constructor
unsigned int	totalDuration () const
	returns sum of raise, flight, and lower durations
Public Attributes
plist::Primitive< bool >	usable
	if false, disables the leg from motion by the walk
plist::Primitive< float >	stanceWidth
	'y' position of the foot during forward travel, relative to body/base frame
plist::Primitive< float >	strideBias
	'x' position of the foot during sideways travel, relative to 'x' position of first leg joint in body/base frame
plist::Primitive< float >	strideMargin
	distance to leave between this foot and the next when lowering
plist::Primitive< float >	flightHeight
	the minimum height above ground while in flight
plist::Primitive< float >	flightPhase
	the offset of this leg within the walk cycle (0-1)
plist::Primitive< unsigned int >	flightDuration
	the time to take in the air, returning a leg to the front of its stroke (ms)
plist::Primitive< unsigned int >	raiseDuration
	the time to take lifting a leg from the ground before flight (ms)
plist::Primitive< unsigned int >	lowerDuration

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Constructor & Destructor Documentation

XWalkParameters::LegParameters::LegParameters

(

)

constructor

Definition at line 148 of file XWalkParameters.h.

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Member Function Documentation

unsigned int XWalkParameters::LegParameters::totalDuration

(

)

const

returns sum of raise, flight, and lower durations

Definition at line 161 of file XWalkParameters.h.

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Member Data Documentation

plist::Primitive<unsigned int> XWalkParameters::LegParameters::flightDuration

the time to take in the air, returning a leg to the front of its stroke (ms)

Definition at line 144 of file XWalkParameters.h.

Referenced by LegParameters(), and totalDuration().

plist::Primitive<float> XWalkParameters::LegParameters::flightHeight

the minimum height above ground while in flight

Definition at line 142 of file XWalkParameters.h.

Referenced by LegParameters().

plist::Primitive<float> XWalkParameters::LegParameters::flightPhase

the offset of this leg within the walk cycle (0-1)

Definition at line 143 of file XWalkParameters.h.

Referenced by LegParameters().

plist::Primitive<unsigned int> XWalkParameters::LegParameters::lowerDuration

the time to lower a leg back to the ground after flight (ms)

Definition at line 146 of file XWalkParameters.h.

Referenced by LegParameters(), and totalDuration().

plist::Primitive<unsigned int> XWalkParameters::LegParameters::raiseDuration

the time to take lifting a leg from the ground before flight (ms)

Definition at line 145 of file XWalkParameters.h.

Referenced by LegParameters(), and totalDuration().

plist::Primitive<float> XWalkParameters::LegParameters::stanceWidth

'y' position of the foot during forward travel, relative to body/base frame

Definition at line 138 of file XWalkParameters.h.

Referenced by XWalkParameters::computeNeutralPos(), LegParameters(), GaitedFootsteps::setGait(), and XWalkMC::updateNeutralPos().

plist::Primitive<float> XWalkParameters::LegParameters::strideBias

'x' position of the foot during sideways travel, relative to 'x' position of first leg joint in body/base frame

Definition at line 139 of file XWalkParameters.h.

Referenced by XWalkParameters::computeNeutralPos(), LegParameters(), GaitedFootsteps::setGait(), and XWalkMC::updateNeutralPos().

plist::Primitive<float> XWalkParameters::LegParameters::strideMargin

distance to leave between this foot and the next when lowering

Definition at line 140 of file XWalkParameters.h.

Referenced by LegParameters().

plist::Primitive<bool> XWalkParameters::LegParameters::usable

if false, disables the leg from motion by the walk

Definition at line 136 of file XWalkParameters.h.

Referenced by LegParameters().

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

• XWalkParameters.h