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CMPackWalkMC::LegParam Struct Reference

holds parameters about how to move each leg More...

#include <CMPackWalkMC.h>


Detailed Description

holds parameters about how to move each leg

Definition at line 53 of file CMPackWalkMC.h.

List of all members.

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

CMPackWalkMC::LegParam::LegParam (  ) 

constructor

Definition at line 54 of file CMPackWalkMC.h.


Member Data Documentation

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 59 of file CMPackWalkMC.h.

give the velocities to use when lowering the paw

Definition at line 57 of file CMPackWalkMC.h.

the time (as percentage of WalkParam::period) in the cycle to lift (so you can set different offsets between the paws)

Definition at line 58 of file CMPackWalkMC.h.

give the velocities to use when raising the paw

Definition at line 56 of file CMPackWalkMC.h.

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

Definition at line 55 of file CMPackWalkMC.h.


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

Tekkotsu v5.1CVS
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