op3_walking_parameter.h
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2 * Copyright 2017 ROBOTIS CO., LTD.
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4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
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13 * See the License for the specific language governing permissions and
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16 
17 /* Author: Kayman */
18 
19 #ifndef OP3_WALKING_PARAMETER_H_
20 #define OP3_WALKING_PARAMETER_H_
21 
22 class WalkingTimeParameter
23 {
24  public:
25  enum
26  {
27  PHASE0 = 0,
28  PHASE1 = 1,
29  PHASE2 = 2,
30  PHASE3 = 3
31  };
32 
33  private:
34  double periodtime;
35  double dsp_ratio;
36  double ssp_ratio;
37  double x_swap_periodtime;
38  double x_move_periodtime;
39  double y_swap_periodtime;
40  double y_move_periodtime;
41  double z_swap_periodtime;
42  double z_move_periodtime;
43  double a_move_periodtime;
44  double ssp_time;
45  double ssp_time_start_l;
46  double ssp_time_end_l;
47  double ssp_time_start_r;
48  double ssp_time_end_r;
49  double phase1_time;
50  double phase2_time;
51  double phase3_time;
52 };
53 
54 class WalkingMovementParameter
55 {
56  private:
57 
58 };
59 
60 class WalkingBalanceParameter
61 {
62 
63 };
64 
65 #endif /* OP3_WALKING_PARAMETER_H_ */

op3_walking_module
Author(s): Kayman
autogenerated on Mon Jun 10 2019 14:41:25