Basic RT components and utilities  315.15.0
Public Attributes | List of all members
OpenHRP::AutoBalancerService::FootstepParam Struct Reference

Foot step parameters. More...

import"AutoBalancerService.idl";

Collaboration diagram for OpenHRP::AutoBalancerService::FootstepParam:
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Public Attributes

Footstep support_leg_coords
 Support foot coords. More...
 
Footstep swing_leg_coords
 Swing foot coords, which is interpolation betwee swing_leg_src_coords and swing_leg_dst_coords. More...
 
Footstep swing_leg_src_coords
 Source coords for swing foot. More...
 
Footstep swing_leg_dst_coords
 Destination coords for swing foot. More...
 
Footstep dst_foot_midcoords
 Destination foot midcoords. More...
 
SupportLegState support_leg
 RLEG or LLEG. More...
 
SupportLegState support_leg_with_both
 RLEG, LLEG, or BOTH. More...
 

Detailed Description

Foot step parameters.

Member Data Documentation

◆ dst_foot_midcoords

Footstep OpenHRP::AutoBalancerService::FootstepParam::dst_foot_midcoords

Destination foot midcoords.

◆ support_leg

SupportLegState OpenHRP::AutoBalancerService::FootstepParam::support_leg

RLEG or LLEG.

◆ support_leg_coords

Footstep OpenHRP::AutoBalancerService::FootstepParam::support_leg_coords

Support foot coords.

◆ support_leg_with_both

SupportLegState OpenHRP::AutoBalancerService::FootstepParam::support_leg_with_both

RLEG, LLEG, or BOTH.

◆ swing_leg_coords

Footstep OpenHRP::AutoBalancerService::FootstepParam::swing_leg_coords

Swing foot coords, which is interpolation betwee swing_leg_src_coords and swing_leg_dst_coords.

◆ swing_leg_dst_coords

Footstep OpenHRP::AutoBalancerService::FootstepParam::swing_leg_dst_coords

Destination coords for swing foot.

◆ swing_leg_src_coords

Footstep OpenHRP::AutoBalancerService::FootstepParam::swing_leg_src_coords

Source coords for swing foot.


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