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

Detailed Description

Structure to store the absolute foot position.

Member Data Documentation

◆ ddomega

double PatternGeneratorJRL::FootAbsolutePosition_t::ddomega

Referenced by PatternGeneratorJRL::operator<<().

◆ ddomega2

double PatternGeneratorJRL::FootAbsolutePosition_t::ddomega2

Referenced by PatternGeneratorJRL::operator<<().

◆ ddtheta

double PatternGeneratorJRL::FootAbsolutePosition_t::ddtheta

Referenced by PatternGeneratorJRL::operator<<().

◆ ddx

double PatternGeneratorJRL::FootAbsolutePosition_t::ddx

Acceleration of the foot.

Referenced by PatternGeneratorJRL::operator<<().

◆ ddy

double PatternGeneratorJRL::FootAbsolutePosition_t::ddy

Referenced by PatternGeneratorJRL::operator<<().

◆ ddz

double PatternGeneratorJRL::FootAbsolutePosition_t::ddz

Referenced by PatternGeneratorJRL::operator<<().

◆ domega

double PatternGeneratorJRL::FootAbsolutePosition_t::domega

Referenced by PatternGeneratorJRL::operator<<().

◆ domega2

double PatternGeneratorJRL::FootAbsolutePosition_t::domega2

Referenced by PatternGeneratorJRL::operator<<().

◆ dtheta

double PatternGeneratorJRL::FootAbsolutePosition_t::dtheta

Referenced by PatternGeneratorJRL::operator<<().

◆ dx

double PatternGeneratorJRL::FootAbsolutePosition_t::dx

Speed of the foot.

Referenced by PatternGeneratorJRL::operator<<().

◆ dy

double PatternGeneratorJRL::FootAbsolutePosition_t::dy

Referenced by PatternGeneratorJRL::operator<<().

◆ dz

double PatternGeneratorJRL::FootAbsolutePosition_t::dz

Referenced by PatternGeneratorJRL::operator<<().

◆ omega

double PatternGeneratorJRL::FootAbsolutePosition_t::omega

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

◆ omega2

double PatternGeneratorJRL::FootAbsolutePosition_t::omega2

Referenced by PatternGeneratorJRL::operator<<().

◆ 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

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