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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 94 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 95 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 98 of file WalkMC.h. Referenced by WalkMC::getAngle(), WalkMC::init(), WalkMC::loadBuffer(), WalkMC::resetLegPos(), WalkMC::saveBuffer(), WalkMC::setAngle(), and WalkMC::updateOutputs(). double WalkMC::WalkParam::body_height the height to hold the body (mm) Definition at line 97 of file WalkMC.h. Referenced by WalkMC::getHeight(), WalkMC::init(), WalkMC::loadBuffer(), WalkMC::resetLegPos(), WalkMC::saveBuffer(), WalkMC::setHeight(), and WalkMC::updateOutputs(). double WalkMC::WalkParam::hop sinusoidal hop amplitude Definition at line 99 of file WalkMC.h. Referenced by WalkMC::getHop(), WalkMC::loadBuffer(), WalkMC::saveBuffer(), WalkMC::setHop(), and WalkMC::updateOutputs(). LegParam WalkMC::WalkParam::leg[4] a set of LegParam's, one for each leg Definition at line 96 of file WalkMC.h. Referenced by WalkMC::loadBuffer(), WalkMC::saveBuffer(), WalkMC::setTargetDisplacement(), and WalkMC::updateOutputs(). long WalkMC::WalkParam::period the time between steps Definition at line 101 of file WalkMC.h. Referenced by WalkMC::getPeriod(), WalkMC::loadBuffer(), WalkMC::saveBuffer(), WalkMC::setPeriod(), WalkMC::setTargetDisplacement(), and WalkMC::updateOutputs(). float WalkMC::WalkParam::reserved just live with it Definition at line 104 of file WalkMC.h. Referenced by WalkMC::loadBuffer(), and WalkMC::saveBuffer(). float WalkMC::WalkParam::sag the amount to sagging to account for when a foot is lifted Definition at line 103 of file WalkMC.h. Referenced by WalkMC::loadBuffer(), WalkMC::saveBuffer(), and WalkMC::updateOutputs(). double WalkMC::WalkParam::sway sinusoidal sway in y direction Definition at line 100 of file WalkMC.h. Referenced by WalkMC::getSway(), WalkMC::loadBuffer(), WalkMC::saveBuffer(), 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 102 of file WalkMC.h. Referenced by WalkMC::loadBuffer(), WalkMC::saveBuffer(), and WalkMC::updateOutputs(). The documentation for this struct was generated from the following file: WalkMC.h

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