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 | time |
| int | stepType |
Structure to store the absolute foot position.
| 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 |
| 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 |
| 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().