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

◆ dddomega

double PatternGeneratorJRL::FootAbsolutePosition_t::dddomega

◆ dddomega2

double PatternGeneratorJRL::FootAbsolutePosition_t::dddomega2

◆ dddtheta

double PatternGeneratorJRL::FootAbsolutePosition_t::dddtheta

◆ dddx

double PatternGeneratorJRL::FootAbsolutePosition_t::dddx

Jerk of the foot.

◆ dddy

double PatternGeneratorJRL::FootAbsolutePosition_t::dddy

◆ dddz

double PatternGeneratorJRL::FootAbsolutePosition_t::dddz

◆ ddomega

double PatternGeneratorJRL::FootAbsolutePosition_t::ddomega

◆ ddomega2

double PatternGeneratorJRL::FootAbsolutePosition_t::ddomega2

◆ ddtheta

double PatternGeneratorJRL::FootAbsolutePosition_t::ddtheta

◆ ddx

double PatternGeneratorJRL::FootAbsolutePosition_t::ddx

Acceleration of the foot.

◆ ddy

double PatternGeneratorJRL::FootAbsolutePosition_t::ddy

◆ ddz

double PatternGeneratorJRL::FootAbsolutePosition_t::ddz

◆ domega

double PatternGeneratorJRL::FootAbsolutePosition_t::domega

◆ domega2

double PatternGeneratorJRL::FootAbsolutePosition_t::domega2

◆ dtheta

double PatternGeneratorJRL::FootAbsolutePosition_t::dtheta

◆ dx

double PatternGeneratorJRL::FootAbsolutePosition_t::dx

Speed of the foot.

◆ dy

double PatternGeneratorJRL::FootAbsolutePosition_t::dy

◆ dz

double PatternGeneratorJRL::FootAbsolutePosition_t::dz

◆ omega

double PatternGeneratorJRL::FootAbsolutePosition_t::omega

◆ omega2

double PatternGeneratorJRL::FootAbsolutePosition_t::omega2

◆ stepType

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

◆ theta

double PatternGeneratorJRL::FootAbsolutePosition_t::theta

◆ time

double PatternGeneratorJRL::FootAbsolutePosition_t::time

Time at which this position should be reached.

◆ x

double PatternGeneratorJRL::FootAbsolutePosition_t::x

px, py in meters, theta in DEGREES.

◆ y

double PatternGeneratorJRL::FootAbsolutePosition_t::y

◆ z

double PatternGeneratorJRL::FootAbsolutePosition_t::z

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

include/jrl/walkgen/pgtypes.hh

Public Attributes