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XWalkMC::LegState Struct Referencecontains cached information about each leg's stride More...
Detailed Descriptioncontains cached information about each leg's stride Definition at line 159 of file XWalkMC.h.
Constructor & Destructor DocumentationMember Data Documentationindicates 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(). indicates the mid-stride foot position Definition at line 171 of file XWalkMC.h. Referenced by XWalkMC::resetLegState(), XWalkMC::resetPeriod(), XWalkMC::updateNeutralPos(), 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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