Fawkes API
Fawkes Development Version
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Internal data storage, do NOT modify! More...
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. |
Internal data storage, do NOT modify!
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage_data_t::hip_height |
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().
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage_data_t::max_step_height |
Maxium height of a footstep cycloid in m.
Definition at line 142 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage().
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage_data_t::max_step_length |
Maximum length of a footstep in m.
Definition at line 139 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage().
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage_data_t::max_step_side |
Maximum length of side step in m.
Definition at line 145 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage().
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage_data_t::max_step_turn |
Maximum change around vertical axis on radians per footstep.
Definition at line 148 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().
int64_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage_data_t::timestamp_sec |
Interface Unix timestamp, seconds.
Definition at line 137 of file HumanoidMotionInterface.h.
int64_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage_data_t::timestamp_usec |
Interface Unix timestamp, micro-seconds.
Definition at line 138 of file HumanoidMotionInterface.h.
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().
Zero moment point offset in forward direction in m.
Definition at line 151 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage().
Zero moment point offset in sideward direction in m.
Definition at line 154 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage().