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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 95 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 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

Constructor & Destructor Documentation

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

constructor

Definition at line 96 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 99 of file WalkMC.h.

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

double WalkMC::WalkParam::body_height
 

the height to hold the body (mm)

Definition at line 98 of file WalkMC.h.

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

double WalkMC::WalkParam::hop
 

sinusoidal hop amplitude

Definition at line 100 of file WalkMC.h.

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

LegParam WalkMC::WalkParam::leg[4]
 

a set of LegParam's, one for each leg

Definition at line 97 of file WalkMC.h.

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

long WalkMC::WalkParam::period
 

the time between steps

Definition at line 102 of file WalkMC.h.

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

float WalkMC::WalkParam::reserved
 

just live with it

Definition at line 105 of file WalkMC.h.

float WalkMC::WalkParam::sag
 

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

Definition at line 104 of file WalkMC.h.

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

double WalkMC::WalkParam::sway
 

sinusoidal sway in y direction

Definition at line 101 of file WalkMC.h.

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

long WalkMC::WalkParam::useDiffDrive
 

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

Definition at line 103 of file WalkMC.h.

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

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

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