InvKinWalkingParameters::CorrectionValues Class Reference

Factors to convert requested body speed to internal leg speed these values are read from odometry.cfg. More...

#include <InvKinWalkingParameters.h>

List of all members.

Public Attributes
double	forward
	for walking forward
double	backward
	for walking backwards
double	sideward
	for walking sideways
double	turning
	for turning
double	rotationCenter
	distance from neck joint to center of rotation when turning in x-direction

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Detailed Description

Factors to convert requested body speed to internal leg speed these values are read from odometry.cfg.

Definition at line 137 of file InvKinWalkingParameters.h.

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Member Data Documentation

double InvKinWalkingParameters::CorrectionValues::forward

for walking forward Definition at line 140 of file InvKinWalkingParameters.h. Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingParameters::interpolate(), InvKinWalkingEngine::limitToMaxSpeed(), and InvKinWalkingParameters::readValues().

double InvKinWalkingParameters::CorrectionValues::backward

for walking backwards Definition at line 142 of file InvKinWalkingParameters.h. Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingEngine::limitToMaxSpeed(), and InvKinWalkingParameters::readValues().

double InvKinWalkingParameters::CorrectionValues::sideward

for walking sideways Definition at line 144 of file InvKinWalkingParameters.h. Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingParameters::interpolate(), InvKinWalkingEngine::limitToMaxSpeed(), and InvKinWalkingParameters::readValues().

double InvKinWalkingParameters::CorrectionValues::turning

for turning Definition at line 146 of file InvKinWalkingParameters.h. Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingParameters::interpolate(), InvKinWalkingEngine::limitToMaxSpeed(), and InvKinWalkingParameters::readValues().

double InvKinWalkingParameters::CorrectionValues::rotationCenter

distance from neck joint to center of rotation when turning in x-direction Definition at line 148 of file InvKinWalkingParameters.h. Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingParameters::interpolate(), and InvKinWalkingParameters::readValues().

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

• Modules/WalkingEngine/InvKinWalkingParameters.h

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