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WalkMC::WalkParam Struct Reference

#include <WalkMC.h>

List of all members.


Detailed Description

holds more general parameters about the walk

Definition at line 94 of file WalkMC.h.


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

WalkMC::WalkParam::WalkParam (  )  [inline]

constructor

Definition at line 95 of file WalkMC.h.


Member Data Documentation

a set of LegParam's, one for each leg

Definition at line 96 of file WalkMC.h.

Referenced by WalkMC::loadBuffer(), WalkMC::saveBuffer(), WalkMC::setTargetDisplacement(), and WalkMC::updateOutputs().

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

Definition at line 98 of file WalkMC.h.

Referenced by WalkMC::getAngle(), WalkMC::init(), WalkMC::loadBuffer(), WalkMC::resetLegPos(), WalkMC::saveBuffer(), WalkMC::setAngle(), and WalkMC::updateOutputs().

sinusoidal hop amplitude

Definition at line 99 of file WalkMC.h.

Referenced by WalkMC::getHop(), WalkMC::loadBuffer(), WalkMC::saveBuffer(), WalkMC::setHop(), and WalkMC::updateOutputs().

sinusoidal sway in y direction

Definition at line 100 of file WalkMC.h.

Referenced by WalkMC::getSway(), WalkMC::loadBuffer(), WalkMC::saveBuffer(), WalkMC::setSway(), and WalkMC::updateOutputs().

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

Definition at line 102 of file WalkMC.h.

Referenced by WalkMC::loadBuffer(), WalkMC::saveBuffer(), and WalkMC::updateOutputs().

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

Definition at line 103 of file WalkMC.h.

Referenced by WalkMC::loadBuffer(), WalkMC::saveBuffer(), and WalkMC::updateOutputs().

just live with it

Definition at line 104 of file WalkMC.h.

Referenced by WalkMC::loadBuffer(), and WalkMC::saveBuffer().


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

Tekkotsu v4.0
Generated Thu Nov 22 00:58:47 2007 by Doxygen 1.5.4