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XWalkMC::LegState Struct Reference

contains cached information about each leg's stride More...

#include <XWalkMC.h>


Detailed Description

contains cached information about each leg's stride

Definition at line 159 of file XWalkMC.h.

List of all members.

Public Member Functions

 LegState ()
 constructor

Public Attributes

bool inAir
 True if the leg is currently in the return flight phase, false if its xy motion is linked to the ground.
bool onGround
 True if the leg is currently providing support on the ground, false if in the air (including raise or lower).
float initialHeight
 during initial placement, stores the height of the leg when start() was called
float support
 at the beginning and end of support phase, leg is lifted... this indicates how much lift has occurred/remains (range 0: in air, to 1: on ground)
unsigned int reorder
 if a valid leg index (i.e. not -1U), indicates the index of the leg from which the phase offset parameter (XWalkParameters::LegParameters::flightPhase) should be used
fmat::Column< 2 > neutralPos
 indicates the mid-stride foot position
fmat::Column< 2 > liftPos
 indicates the position the leg was lifted from during flight, or the last target point during support
fmat::Column< 2 > downPos
 indicates the position the leg will be placed following flight, or would have been placed to maintain continuity if target velocities change (see resetLegState())

Constructor & Destructor Documentation

XWalkMC::LegState::LegState (  ) 

constructor

Definition at line 161 of file XWalkMC.h.


Member Data Documentation

indicates the position the leg will be placed following flight, or would have been placed to maintain continuity if target velocities change (see resetLegState())

Definition at line 173 of file XWalkMC.h.

Referenced by XWalkMC::computeCurrentPosition(), XWalkMC::resetLegState(), and XWalkMC::updateOutputsWalking().

True if the leg is currently in the return flight phase, false if its xy motion is linked to the ground.

Note that if this is false, the leg may be in the process of raising or lowering to the ground, but not actually providing support

Definition at line 165 of file XWalkMC.h.

Referenced by XWalkMC::start(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

during initial placement, stores the height of the leg when start() was called

Definition at line 168 of file XWalkMC.h.

Referenced by XWalkMC::start(), and XWalkMC::updateOutputsInitial().

indicates the position the leg was lifted from during flight, or the last target point during support

Definition at line 172 of file XWalkMC.h.

Referenced by XWalkMC::computeCurrentPosition(), XWalkMC::resetLegState(), XWalkMC::start(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

True if the leg is currently providing support on the ground, false if in the air (including raise or lower).

Definition at line 167 of file XWalkMC.h.

Referenced by XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

if a valid leg index (i.e. not -1U), indicates the index of the leg from which the phase offset parameter (XWalkParameters::LegParameters::flightPhase) should be used

Definition at line 170 of file XWalkMC.h.

Referenced by XWalkMC::computeLegPhase(), and XWalkMC::updateOutputsInitial().

at the beginning and end of support phase, leg is lifted... this indicates how much lift has occurred/remains (range 0: in air, to 1: on ground)

Definition at line 169 of file XWalkMC.h.

Referenced by XWalkMC::start(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().


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

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