PatternGeneratorJRL::FootAbsolutePosition_t Struct Reference

Structure to store the absolute foot position. More...

#include <jrl/walkgen/pgtypes.hh>

Public Attributes
double	x
double	y
double	z
double	theta
double	omega
double	omega2
double	dx
double	dy
double	dz
double	dtheta
double	domega
double	domega2
double	ddx
double	ddy
double	ddz
double	ddtheta
double	ddomega
double	ddomega2
double	dddx
double	dddy
double	dddz
double	dddtheta
double	dddomega
double	dddomega2
double	time
int	stepType

Detailed Description

Structure to store the absolute foot position.

Member Data Documentation

double PatternGeneratorJRL::FootAbsolutePosition_t::dddomega

double PatternGeneratorJRL::FootAbsolutePosition_t::dddomega2

double PatternGeneratorJRL::FootAbsolutePosition_t::dddtheta

double PatternGeneratorJRL::FootAbsolutePosition_t::dddx

Jerk of the foot.

double PatternGeneratorJRL::FootAbsolutePosition_t::dddy

double PatternGeneratorJRL::FootAbsolutePosition_t::dddz

double PatternGeneratorJRL::FootAbsolutePosition_t::ddomega

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::ddomega2

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::ddtheta

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::ddx

Acceleration of the foot.

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::ddy

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::ddz

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::domega

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::domega2

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::dtheta

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::dx

Speed of the foot.

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::dy

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::dz

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::omega

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), and PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::omega2

Referenced by PatternGeneratorJRL::operator<<().

int PatternGeneratorJRL::FootAbsolutePosition_t::stepType

1:normal walking 2:one step before obstacle 3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle +10 if double support phase (-1) if support foot

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), and PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::theta

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), and PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::time

Time at which this position should be reached.

Referenced by PatternGeneratorJRL::operator<<().

double PatternGeneratorJRL::FootAbsolutePosition_t::x

px, py in meters, theta in DEGREES.

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), PatternGeneratorJRL::operator<<(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase().

double PatternGeneratorJRL::FootAbsolutePosition_t::y

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), PatternGeneratorJRL::operator<<(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase().

double PatternGeneratorJRL::FootAbsolutePosition_t::z

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), PatternGeneratorJRL::operator<<(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase().