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WalkMC::WalkParam Struct Reference#include <WalkMC.h>
Detailed Descriptionholds more general parameters about the walkDefinition at line 94 of file WalkMC.h.
Constructor & Destructor Documentation
Member Data Documentationa 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 height to hold the body (mm)
Definition at line 97 of file WalkMC.h. Referenced by WalkMC::getHeight(), WalkMC::init(), WalkMC::loadBuffer(), WalkMC::resetLegPos(), WalkMC::saveBuffer(), WalkMC::setHeight(), 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(). the time between steps
Definition at line 101 of file WalkMC.h. Referenced by WalkMC::getPeriod(), WalkMC::loadBuffer(), WalkMC::saveBuffer(), WalkMC::setPeriod(), WalkMC::setTargetDisplacement(), 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: |
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