walker.WFunc Class Reference

List of all members.

Public Member Functions
def	__init__
def	apply_velocity
def	generate
def	generate_right
def	get
def	show
Public Attributes
	afn
	forward
	joints
	parameters
	pfn

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Detailed Description

Multi-joint walk function for Darwin    

Definition at line 43 of file walker.py.

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Constructor & Destructor Documentation

def walker.WFunc.__init__	(		self,
			kwargs
	)

Definition at line 47 of file walker.py.

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Member Function Documentation

def walker.WFunc.apply_velocity	(		self,
			angles,
			velocity,
			phase,
			x
	)

Modify on the walk-on-spot joint angles to apply the velocity vector

Definition at line 155 of file walker.py.

def walker.WFunc.generate

(

self

)

Build CPG functions for walk-on-spot (no translation or rotation, only legs up/down)

Definition at line 63 of file walker.py.

def walker.WFunc.generate_right

(

self

)

Mirror CPG functions from left to right and antiphase right

Definition at line 123 of file walker.py.

def walker.WFunc.get	(		self,
			phase,
			x,
			velocity
	)

Obtain the joint angles for a given phase, position in cycle (x 0,1)) and velocity parameters 

Definition at line 132 of file walker.py.

def walker.WFunc.show

(

self

)

Display the CPG functions used

Definition at line 147 of file walker.py.

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Member Data Documentation

walker.WFunc::afn

Definition at line 65 of file walker.py.

walker.WFunc::forward

Definition at line 65 of file walker.py.

walker.WFunc::joints

Definition at line 65 of file walker.py.

walker.WFunc::parameters

Definition at line 47 of file walker.py.

walker.WFunc::pfn

Definition at line 65 of file walker.py.

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

• walker.py