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WalkMC::WalkParam Struct Reference

#include <WalkMC.h>

List of all members.

Detailed Description

holds more general parameters about the walk

Definition at line 75 of file WalkMC.h.

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

long period
 the time between steps

long reserved
 live with it

Constructor & Destructor Documentation

WalkMC::WalkParam::WalkParam (   )  [inline]
 

constructor

Definition at line 76 of file WalkMC.h.

Member Data Documentation

double WalkMC::WalkParam::body_angle
 

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

Definition at line 79 of file WalkMC.h.

Referenced by WalkMC::getAngle(), WalkMC::init(), WalkMC::setAngle(), WalkMC::updateOutputs(), and WalkParam().

double WalkMC::WalkParam::body_height
 

the height to hold the body (mm)

Definition at line 78 of file WalkMC.h.

Referenced by WalkMC::getHeight(), WalkMC::init(), WalkMC::setHeight(), WalkMC::updateOutputs(), and WalkParam().

double WalkMC::WalkParam::hop
 

sinusoidal hop amplitude

Definition at line 80 of file WalkMC.h.

Referenced by WalkMC::getHop(), WalkMC::setHop(), WalkMC::updateOutputs(), and WalkParam().

LegParam WalkMC::WalkParam::leg[4]
 

a set of LegParam's, one for each leg

Definition at line 77 of file WalkMC.h.

Referenced by WalkMC::updateOutputs().

long WalkMC::WalkParam::period
 

the time between steps

Definition at line 82 of file WalkMC.h.

Referenced by WalkMC::getPeriod(), WalkMC::setPeriod(), WalkMC::updateOutputs(), and WalkParam().

long WalkMC::WalkParam::reserved
 

live with it

Definition at line 83 of file WalkMC.h.

Referenced by WalkParam().

double WalkMC::WalkParam::sway
 

sinusoidal sway in y direction

Definition at line 81 of file WalkMC.h.

Referenced by WalkMC::getSway(), WalkMC::setSway(), WalkMC::updateOutputs(), and WalkParam().

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