rats::step_node Struct Reference

#include <GaitGenerator.h>

Public Member Functions
	step_node ()
	step_node (const leg_type _l_r, const coordinates &_worldcoords, const double _step_height, const double _step_time, const double _toe_angle, const double _heel_angle)
	step_node (const std::string &_l_r, const coordinates &_worldcoords, const double _step_height, const double _step_time, const double _toe_angle, const double _heel_angle)

Public Attributes
double	heel_angle
leg_type	l_r
double	step_height
double	step_time
double	toe_angle
coordinates	worldcoords

Friends
std::ostream &	operator<< (std::ostream &os, const step_node &sn)

Detailed Description

Definition at line 30 of file GaitGenerator.h.

Constructor & Destructor Documentation

rats::step_node::step_node ( )

inline

Definition at line 35 of file GaitGenerator.h.

rats::step_node::step_node ( const leg_type  _l_r, const coordinates &  _worldcoords, const double  _step_height, const double  _step_time, const double  _toe_angle, const double  _heel_angle  )

inline

Definition at line 38 of file GaitGenerator.h.

rats::step_node::step_node ( const std::string &  _l_r, const coordinates &  _worldcoords, const double  _step_height, const double  _step_time, const double  _toe_angle, const double  _heel_angle  )

inline

Definition at line 44 of file GaitGenerator.h.

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  os, const step_node &  sn  )

friend

Definition at line 53 of file GaitGenerator.h.

Member Data Documentation

double rats::step_node::heel_angle

Definition at line 34 of file GaitGenerator.h.

leg_type rats::step_node::l_r

Definition at line 32 of file GaitGenerator.h.

double rats::step_node::step_height

Definition at line 34 of file GaitGenerator.h.

double rats::step_node::step_time

Definition at line 34 of file GaitGenerator.h.

double rats::step_node::toe_angle

Definition at line 34 of file GaitGenerator.h.

coordinates rats::step_node::worldcoords

Definition at line 33 of file GaitGenerator.h.

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

• GaitGenerator.h