XWalkMC::LegState Struct Reference

contains cached information about each leg's stride More...

#include <XWalkMC.h>

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Detailed Description

contains cached information about each leg's stride

Definition at line 168 of file XWalkMC.h.

List of all members.

Public Member Functions
	LegState ()
	constructor
Public Attributes
bool	inAir
	True if the leg is currently in the return flight phase, false if its xy motion is linked to the ground.
bool	onGround
	True if the leg is currently providing support on the ground, false if in the air (including raise or lower).
float	initialHeight
	during initial placement, stores the height of the leg when start() was called
float	support
	at the beginning and end of support phase, leg is lifted... this indicates how much lift has occurred/remains (range 0: in air, to 1: on ground)
unsigned int	reorder
	if a valid leg index (i.e. not -1U), indicates the index of the leg from which the phase offset parameter (XWalkParameters::LegParameters::flightPhase) should be used
fmat::Column< 2 >	neutralPos
	indicates the mid-stride foot position
fmat::Column< 2 >	liftPos
	indicates the position the leg was lifted from during flight, or the last target point during support
fmat::Column< 2 >	downPos
	indicates the position the leg will be placed following flight, or would have been placed to maintain continuity if target velocities change (see resetLegState())

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Constructor & Destructor Documentation

XWalkMC::LegState::LegState

(

)

constructor

Definition at line 170 of file XWalkMC.h.

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Member Data Documentation

fmat::Column<2> XWalkMC::LegState::downPos

indicates the position the leg will be placed following flight, or would have been placed to maintain continuity if target velocities change (see resetLegState())

Definition at line 182 of file XWalkMC.h.

Referenced by XWalkMC::computeCurrentPosition(), XWalkMC::resetLegState(), and XWalkMC::updateOutputsWalking().

bool XWalkMC::LegState::inAir

True if the leg is currently in the return flight phase, false if its xy motion is linked to the ground.

Note that if this is false, the leg may be in the process of raising or lowering to the ground, but not actually providing support

Definition at line 174 of file XWalkMC.h.

Referenced by XWalkMC::start(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

float XWalkMC::LegState::initialHeight

during initial placement, stores the height of the leg when start() was called

Definition at line 177 of file XWalkMC.h.

Referenced by XWalkMC::start(), and XWalkMC::updateOutputsInitial().

fmat::Column<2> XWalkMC::LegState::liftPos

indicates the position the leg was lifted from during flight, or the last target point during support

Definition at line 181 of file XWalkMC.h.

Referenced by XWalkMC::computeCurrentPosition(), XWalkMC::resetLegState(), XWalkMC::start(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

fmat::Column<2> XWalkMC::LegState::neutralPos

indicates the mid-stride foot position

Definition at line 180 of file XWalkMC.h.

Referenced by XWalkMC::resetLegState(), XWalkMC::resetPeriod(), XWalkMC::updateNeutralPos(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

bool XWalkMC::LegState::onGround

True if the leg is currently providing support on the ground, false if in the air (including raise or lower).

Definition at line 176 of file XWalkMC.h.

Referenced by XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

unsigned int XWalkMC::LegState::reorder

if a valid leg index (i.e. not -1U), indicates the index of the leg from which the phase offset parameter (XWalkParameters::LegParameters::flightPhase) should be used

Definition at line 179 of file XWalkMC.h.

Referenced by XWalkMC::computeLegPhase(), and XWalkMC::updateOutputsInitial().

float XWalkMC::LegState::support

at the beginning and end of support phase, leg is lifted... this indicates how much lift has occurred/remains (range 0: in air, to 1: on ground)

Definition at line 178 of file XWalkMC.h.

Referenced by XWalkMC::start(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

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

• XWalkMC.h