OpenHRP::AutoBalancerService::FootstepParam Struct Reference

Foot step parameters. More...

import "AutoBalancerService.idl";

Collaboration diagram for OpenHRP::AutoBalancerService::FootstepParam:

List of all members.

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

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Detailed Description

Foot step parameters.

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Member Data Documentation

Footstep OpenHRP::AutoBalancerService::FootstepParam::dst_foot_midcoords

Destination foot midcoords.

SupportLegState OpenHRP::AutoBalancerService::FootstepParam::support_leg

RLEG or LLEG.

Footstep OpenHRP::AutoBalancerService::FootstepParam::support_leg_coords

Support foot coords.

SupportLegState OpenHRP::AutoBalancerService::FootstepParam::support_leg_with_both

RLEG, LLEG, or BOTH.

Footstep OpenHRP::AutoBalancerService::FootstepParam::swing_leg_coords

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

Footstep OpenHRP::AutoBalancerService::FootstepParam::swing_leg_dst_coords

Destination coords for swing foot.

Footstep OpenHRP::AutoBalancerService::FootstepParam::swing_leg_src_coords

Source coords for swing foot.

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

• AutoBalancerService.idl