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WalkMC::LegParam Struct Reference

#include <WalkMC.h>

List of all members.

Detailed Description

holds parameters about how to move each leg

Definition at line 86 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)

Constructor & Destructor Documentation

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

constructor

Definition at line 87 of file WalkMC.h.

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 92 of file WalkMC.h.

Referenced by LegParam(), and WalkMC::updateOutputs().

vector3d WalkMC::LegParam::down_vel
 

give the velocities to use when lowering the paw

Definition at line 90 of file WalkMC.h.

Referenced by LegParam(), and WalkMC::updateOutputs().

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 91 of file WalkMC.h.

Referenced by LegParam(), and WalkMC::updateOutputs().

vector3d WalkMC::LegParam::lift_vel
 

give the velocities to use when raising the paw

Definition at line 89 of file WalkMC.h.

Referenced by LegParam(), and WalkMC::updateOutputs().

vector3d WalkMC::LegParam::neutral
 

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

Definition at line 88 of file WalkMC.h.

Referenced by LegParam(), and WalkMC::updateOutputs().

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

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