Tekkotsu Homepage
Demos
Overview
Downloads
Dev. Resources
Reference
Credits

CMPackWalkMC::WalkParam Struct Reference

holds more general parameters about the walk More...

#include <CMPackWalkMC.h>


Detailed Description

holds more general parameters about the walk

Definition at line 63 of file CMPackWalkMC.h.

List of all members.

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
int period
 the time between steps
int 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

CMPackWalkMC::WalkParam::WalkParam (  ) 

constructor

Definition at line 64 of file CMPackWalkMC.h.


Member Data Documentation

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

Definition at line 67 of file CMPackWalkMC.h.

the height to hold the body (mm)

Definition at line 66 of file CMPackWalkMC.h.

sinusoidal hop amplitude

Definition at line 68 of file CMPackWalkMC.h.

a set of LegParam's, one for each leg

Definition at line 65 of file CMPackWalkMC.h.

the time between steps

Definition at line 70 of file CMPackWalkMC.h.

Referenced by CMPackWalkMC::getMaxXVel().

just live with it

Definition at line 73 of file CMPackWalkMC.h.

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

Definition at line 72 of file CMPackWalkMC.h.

sinusoidal sway in y direction

Definition at line 69 of file CMPackWalkMC.h.

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

Definition at line 71 of file CMPackWalkMC.h.


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

Tekkotsu v5.1CVS
Generated Mon May 9 04:59:05 2016 by Doxygen 1.6.3