WheeledWalkMC::WheelInfo Struct Reference

stores information about the configuration and current target state of each wheel More...

#include <WheeledWalkMC.h>

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Detailed Description

stores information about the configuration and current target state of each wheel

Definition at line 134 of file WheeledWalkMC.h.

List of all members.

Public Member Functions
	WheelInfo ()
Public Attributes
bool	valid
	set to false if the wheel axle is vertical
fmat::Column< 2 >	position
	the center of the wheel's contact
fmat::Column< 2 >	direction
	the direction of forward motion produced by this wheel
float	targetVel
	the current wheel velocity to supply to motman via updateOutputs, is calculated by setTargetVelocity()

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Constructor & Destructor Documentation

WheeledWalkMC::WheelInfo::WheelInfo

(

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Definition at line 135 of file WheeledWalkMC.h.

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Member Data Documentation

fmat::Column<2> WheeledWalkMC::WheelInfo::direction

the direction of forward motion produced by this wheel

Definition at line 138 of file WheeledWalkMC.h.

fmat::Column<2> WheeledWalkMC::WheelInfo::position

the center of the wheel's contact

Definition at line 137 of file WheeledWalkMC.h.

float WheeledWalkMC::WheelInfo::targetVel

the current wheel velocity to supply to motman via updateOutputs, is calculated by setTargetVelocity()

Definition at line 139 of file WheeledWalkMC.h.

bool WheeledWalkMC::WheelInfo::valid

set to false if the wheel axle is vertical

Definition at line 136 of file WheeledWalkMC.h.

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

• WheeledWalkMC.h