hpp::walkgen::FootPrint Struct Reference

Position of a foot on the (horizontal) ground. More...

#include <hpp/walkgen/foot-print.hh>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	FootPrint (const value_type &abs, const value_type &ord, const value_type &cosYaw, const value_type &sinYaw)
	Constructor. More...
const value_type &	operator[] (size_type index) const

Public Attributes
vector2_t	position
vector2_t	orientation

Detailed Description

Position of a foot on the (horizontal) ground.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW hpp::walkgen::FootPrint::FootPrint ( const value_type &  abs, const value_type &  ord, const value_type &  cosYaw, const value_type &  sinYaw  )

inline

Constructor.

Parameters

abs,ord	position of the foot center in the horizontal plane,
cosYaw,sinYaw	orientation of the foot specified by cosine and sine

Member Function Documentation

const value_type& hpp::walkgen::FootPrint::operator[] ( size_type  index ) const

inline

Member Data Documentation

vector2_t hpp::walkgen::FootPrint::orientation

Referenced by hpp::walkgen::createFootDevice(), hpp::walkgen::Step::Step(), and hpp::walkgen::SupportFoot::SupportFoot().

vector2_t hpp::walkgen::FootPrint::position

Referenced by hpp::walkgen::Step::Step(), and hpp::walkgen::SupportFoot::SupportFoot().