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	time
int	stepType

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Detailed Description

Structure to store the absolute foot position.

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Member Data Documentation

double PatternGeneratorJRL::FootAbsolutePosition_t::domega

double PatternGeneratorJRL::FootAbsolutePosition_t::domega2

double PatternGeneratorJRL::FootAbsolutePosition_t::dtheta

double PatternGeneratorJRL::FootAbsolutePosition_t::dx

Speed of the foot.

double PatternGeneratorJRL::FootAbsolutePosition_t::dy

double PatternGeneratorJRL::FootAbsolutePosition_t::dz

double PatternGeneratorJRL::FootAbsolutePosition_t::omega

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization().

double PatternGeneratorJRL::FootAbsolutePosition_t::omega2

int PatternGeneratorJRL::FootAbsolutePosition_t::stepType

1:normal walking 2:one step before opbstacle 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().

double PatternGeneratorJRL::FootAbsolutePosition_t::theta

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization().

double PatternGeneratorJRL::FootAbsolutePosition_t::time

Time at which this position should be reached.

double PatternGeneratorJRL::FootAbsolutePosition_t::x

px, py in meters, theta in DEGREES.

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase().

double PatternGeneratorJRL::FootAbsolutePosition_t::y

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase().

double PatternGeneratorJRL::FootAbsolutePosition_t::z

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase().