PatternGeneratorJRL::FootAbsolutePosition_t Struct Reference

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

#include <jrl/walkgen/pgtypes.hh>

List of all members.

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

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<<().

Time at which this position should be reached.

Referenced by PatternGeneratorJRL::operator<<().