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op3_walking_module
op3_walking_parameter.h
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/*******************************************************************************
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* Copyright 2017 ROBOTIS CO., LTD.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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/* Author: Kayman */
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#ifndef OP3_WALKING_PARAMETER_H_
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#define OP3_WALKING_PARAMETER_H_
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class
WalkingTimeParameter
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{
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public
:
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enum
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{
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PHASE0
= 0,
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PHASE1
= 1,
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PHASE2
= 2,
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PHASE3
= 3
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};
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private
:
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double
periodtime
;
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double
dsp_ratio
;
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double
ssp_ratio
;
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double
x_swap_periodtime
;
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double
x_move_periodtime
;
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double
y_swap_periodtime
;
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double
y_move_periodtime
;
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double
z_swap_periodtime
;
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double
z_move_periodtime
;
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double
a_move_periodtime
;
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double
ssp_time
;
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double
ssp_time_start_l
;
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double
ssp_time_end_l
;
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double
ssp_time_start_r
;
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double
ssp_time_end_r
;
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double
phase1_time
;
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double
phase2_time
;
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double
phase3_time
;
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};
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class
WalkingMovementParameter
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{
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private
:
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};
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class
WalkingBalanceParameter
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{
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};
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#endif
/* OP3_WALKING_PARAMETER_H_ */
WalkingTimeParameter::ssp_time_end_l
double ssp_time_end_l
Definition:
op3_walking_parameter.h:46
WalkingTimeParameter::dsp_ratio
double dsp_ratio
Definition:
op3_walking_parameter.h:35
WalkingTimeParameter::y_swap_periodtime
double y_swap_periodtime
Definition:
op3_walking_parameter.h:39
WalkingTimeParameter::ssp_time_start_r
double ssp_time_start_r
Definition:
op3_walking_parameter.h:47
WalkingTimeParameter::ssp_ratio
double ssp_ratio
Definition:
op3_walking_parameter.h:36
WalkingTimeParameter::phase2_time
double phase2_time
Definition:
op3_walking_parameter.h:50
WalkingTimeParameter::PHASE0
Definition:
op3_walking_parameter.h:27
WalkingTimeParameter
Definition:
op3_walking_parameter.h:22
WalkingTimeParameter::x_swap_periodtime
double x_swap_periodtime
Definition:
op3_walking_parameter.h:37
WalkingTimeParameter::ssp_time
double ssp_time
Definition:
op3_walking_parameter.h:44
WalkingBalanceParameter
Definition:
op3_walking_parameter.h:60
WalkingTimeParameter::z_swap_periodtime
double z_swap_periodtime
Definition:
op3_walking_parameter.h:41
WalkingTimeParameter::phase3_time
double phase3_time
Definition:
op3_walking_parameter.h:51
WalkingTimeParameter::PHASE3
Definition:
op3_walking_parameter.h:30
WalkingTimeParameter::z_move_periodtime
double z_move_periodtime
Definition:
op3_walking_parameter.h:42
WalkingTimeParameter::x_move_periodtime
double x_move_periodtime
Definition:
op3_walking_parameter.h:38
WalkingMovementParameter
Definition:
op3_walking_parameter.h:54
WalkingTimeParameter::phase1_time
double phase1_time
Definition:
op3_walking_parameter.h:49
WalkingTimeParameter::y_move_periodtime
double y_move_periodtime
Definition:
op3_walking_parameter.h:40
WalkingTimeParameter::ssp_time_start_l
double ssp_time_start_l
Definition:
op3_walking_parameter.h:45
WalkingTimeParameter::PHASE2
Definition:
op3_walking_parameter.h:29
WalkingTimeParameter::a_move_periodtime
double a_move_periodtime
Definition:
op3_walking_parameter.h:43
WalkingTimeParameter::periodtime
double periodtime
Definition:
op3_walking_parameter.h:34
WalkingTimeParameter::ssp_time_end_r
double ssp_time_end_r
Definition:
op3_walking_parameter.h:48
WalkingTimeParameter::PHASE1
Definition:
op3_walking_parameter.h:28
op3_walking_module
Author(s): Kayman
autogenerated on Mon Jun 10 2019 14:41:25