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# Representations/Motion/MotionRequest.h File Reference

This file contains the MotionRequest class as well as SpecialActionRequest and WalkingRequest classes. More...

`#include "Tools/Streams/InOut.h"`
`#include "Tools/Math/Pose2D.h"`

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Go to the source code of this file.

## Classes
class | SpecialActionRequest
class | WalkRequest
class | TailRequest
class | MotionRequest
| This describes the MotionRequest. More...
## walking max speeds
Attention: These values are implementation independent maximum speeds. They dont reflect speeds reached with current walking engine implementations. They should be used e.g. for the Motion Tester and for the behavior to walk with maximum speed.
const double | walkMaxForwardSpeed = 450.0
| the maximum forward speed for walk in mm/s
const double | walkMaxBackwardSpeed = 350.0
| the maximum backward speed for walk in mm/s
const double | walkMaxLeftRightSpeed = 400.0
| the maximum sideward left/right speed for walk in mm/s
const double | walkMaxRotationSpeed = fromDegrees(250)
| the maximum rotation speed for walk in rad/s

## Detailed Description

This file contains the MotionRequest class as well as SpecialActionRequest and WalkingRequest classes.

Author:
  Ronnie Brunn

  Nicolai Kuntze

  Michael Kunz

  Max Risler

  Michael Spranger

Definition in file MotionRequest.h.

## Variable Documentation

const double walkMaxForwardSpeed = 450.0`[static]`

| the maximum forward speed for walk in mm/s Definition at line 29 of file MotionRequest.h.

const double walkMaxBackwardSpeed = 350.0`[static]`

| the maximum backward speed for walk in mm/s Definition at line 31 of file MotionRequest.h.

const double walkMaxLeftRightSpeed = 400.0`[static]`

| the maximum sideward left/right speed for walk in mm/s Definition at line 33 of file MotionRequest.h.

const double walkMaxRotationSpeed = fromDegrees(250)`[static]`

| the maximum rotation speed for walk in rad/s Definition at line 35 of file MotionRequest.h.