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WalkMC::LegParam Struct Reference

#include <WalkMC.h>

List of all members.

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Detailed Description

holds parameters about how to move each leg

Definition at line 62 of file WalkMC.h.

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

WalkMC::LegParam::LegParam (   )  [inline]

constructor Definition at line 63 of file WalkMC.h. References down_time, down_vel, lift_time, lift_vel, and neutral.

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Member Data Documentation

double WalkMC::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 68 of file WalkMC.h.

vector3d WalkMC::LegParam::down_vel

give the velocities to use when lowering the paw Definition at line 66 of file WalkMC.h.

double WalkMC::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 67 of file WalkMC.h.

vector3d WalkMC::LegParam::lift_vel

give the velocities to use when raising the paw Definition at line 65 of file WalkMC.h.

vector3d WalkMC::LegParam::neutral

defines the "neutral" point of each leg - where it is in midstep Definition at line 64 of file WalkMC.h.

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

• WalkMC.h

Tekkotsu v1.4

Generated Sat Jul 19 00:09:15 2003 by Doxygen 1.3.2