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#include <WalkMC.h>
Definition at line 65 of file WalkMC.h.
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) |
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constructor
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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 71 of file WalkMC.h. Referenced by LegParam(), and WalkMC::updateOutputs(). |
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give the velocities to use when lowering the paw
Definition at line 69 of file WalkMC.h. Referenced by LegParam(), and WalkMC::updateOutputs(). |
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the time (as percentage of WalkParam::period) in the cycle to lift (so you can set different offsets between the paws)
Definition at line 70 of file WalkMC.h. Referenced by LegParam(), and WalkMC::updateOutputs(). |
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give the velocities to use when raising the paw
Definition at line 68 of file WalkMC.h. Referenced by LegParam(), and WalkMC::updateOutputs(). |
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defines the "neutral" point of each leg - where it is in midstep
Definition at line 67 of file WalkMC.h. Referenced by LegParam(), and WalkMC::updateOutputs(). |
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