CMPackWalkMC::WalkParam Struct Reference

holds more general parameters about the walk More...

#include <CMPackWalkMC.h>

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Detailed Description

holds more general parameters about the walk

Definition at line 94 of file CMPackWalkMC.h.

List of all members.

Public Member Functions
	WalkParam ()
	constructor
Public Attributes
LegParam	leg [4]
	a set of LegParam's, one for each leg
double	body_height
	the height to hold the body (mm)
double	body_angle
	the angle to hold the body (rad - 0 is level)
double	hop
	sinusoidal hop amplitude
double	sway
	sinusoidal sway in y direction
int	period
	the time between steps
int	useDiffDrive
	if non-zero, diff-drive style turning is used instead of rotational turning
float	sag
	the amount to sagging to account for when a foot is lifted
float	reserved
	just live with it

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Constructor & Destructor Documentation

CMPackWalkMC::WalkParam::WalkParam

(

)

constructor

Definition at line 95 of file CMPackWalkMC.h.

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Member Data Documentation

double CMPackWalkMC::WalkParam::body_angle

the angle to hold the body (rad - 0 is level)

Definition at line 98 of file CMPackWalkMC.h.

Referenced by CMPackWalkMC::getAngle(), CMPackWalkMC::init(), CMPackWalkMC::loadBuffer(), CMPackWalkMC::resetLegPos(), CMPackWalkMC::saveBuffer(), CMPackWalkMC::setAngle(), and CMPackWalkMC::updateOutputs().

double CMPackWalkMC::WalkParam::body_height

the height to hold the body (mm)

Definition at line 97 of file CMPackWalkMC.h.

Referenced by CMPackWalkMC::getHeight(), CMPackWalkMC::init(), CMPackWalkMC::loadBuffer(), CMPackWalkMC::resetLegPos(), CMPackWalkMC::saveBuffer(), CMPackWalkMC::setHeight(), and CMPackWalkMC::updateOutputs().

double CMPackWalkMC::WalkParam::hop

sinusoidal hop amplitude

Definition at line 99 of file CMPackWalkMC.h.

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

LegParam CMPackWalkMC::WalkParam::leg[4]

a set of LegParam's, one for each leg

Definition at line 96 of file CMPackWalkMC.h.

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

int CMPackWalkMC::WalkParam::period

the time between steps

Definition at line 101 of file CMPackWalkMC.h.

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

float CMPackWalkMC::WalkParam::reserved

just live with it

Definition at line 104 of file CMPackWalkMC.h.

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

float CMPackWalkMC::WalkParam::sag

the amount to sagging to account for when a foot is lifted

Definition at line 103 of file CMPackWalkMC.h.

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

double CMPackWalkMC::WalkParam::sway

sinusoidal sway in y direction

Definition at line 100 of file CMPackWalkMC.h.

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

int CMPackWalkMC::WalkParam::useDiffDrive

if non-zero, diff-drive style turning is used instead of rotational turning

Definition at line 102 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