Fawkes API  Fawkes Development Version
fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage_data_t Struct Reference

Internal data storage, do NOT modify! More...

List of all members.

Public Attributes

int64_t timestamp_sec
 Interface Unix timestamp, seconds.
int64_t timestamp_usec
 Interface Unix timestamp, micro-seconds.
float max_step_length
 Maximum length of a footstep in m.
float max_step_height
 Maxium height of a footstep cycloid in m.
float max_step_side
 Maximum length of side step in m.
float max_step_turn
 Maximum change around vertical axis on radians per footstep.
float zmp_offset_forward
 Zero moment point offset in forward direction in m.
float zmp_offset_sideward
 Zero moment point offset in sideward direction in m.
float l_hip_roll_compensation
 Amplitude in degrees of backlash compensation for left hip roll.
float r_hip_roll_compensation
 Amplitude in degrees of backlash compensation for left hip roll.
float hip_height
 Height of hip during walk process.
float torso_sideward_orientation
 Torso orientation in degrees in sideward direction during walking.

Detailed Description

Internal data storage, do NOT modify!


Member Data Documentation

Height of hip during walk process.

This is fitted to the Nao and is possibly not applicable to other robots.

Definition at line 165 of file HumanoidMotionInterface.h.

Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage().

Amplitude in degrees of backlash compensation for left hip roll.

This is fitted to the Nao and is possibly not applicable to other robots.

Definition at line 157 of file HumanoidMotionInterface.h.

Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage().

Amplitude in degrees of backlash compensation for left hip roll.

This is fitted to the Nao and is possibly not applicable to other robots.

Definition at line 161 of file HumanoidMotionInterface.h.

Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage().

Torso orientation in degrees in sideward direction during walking.

This is fitted to the Nao and is possibly not applicable to other robots.

Definition at line 169 of file HumanoidMotionInterface.h.

Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage().


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