27 case 1:
return "LEFT_FOOT_SWING";
28 case 2:
return "RIGHT_FOOT_SWING";
29 case 3:
return "STANDING";
30 default:
return "UNKOWN";
36 switch (walking_state)
38 case 0:
return "IN_WALKING_STARTING";
39 case 1:
return "IN_WALKING";
40 case 2:
return "IN_WALKING_ENDING";
41 default:
return "UNKOWN";
47 return out << std::fixed << std::setprecision(3) << pose.
x <<
"/" << pose.
y <<
"/" << pose.
z <<
"|" << pose.
roll <<
"/" << pose.
pitch <<
"/" << pose.
yaw;
52 out << std::fixed << std::setprecision(3);
55 out <<
"[ BODY] " << position_data.
body_pose <<
"\n";
58 out <<
"[PARAMS] " <<
"x_zmp_shift: " << position_data.
x_zmp_shift <<
" | y_zmp_shift: " << position_data.
y_zmp_shift <<
"\n";
65 out << std::fixed << std::setprecision(3);
75 out <<
"------- StepPositionData: -------\n" << step_data.
position_data <<
"\n";
76 out <<
"--------- StepTimeData: ---------\n" << step_data.
time_data;
double start_time_delay_ratio_y
std::string dispatchWalkingState(int walking_state)
StepPositionData position_data
double finish_time_advance_ratio_pitch
double start_time_delay_ratio_x
double start_time_delay_ratio_z
double finish_time_advance_ratio_z
double finish_time_advance_ratio_x
double finish_time_advance_ratio_yaw
std::string dispatchMovingFoot(int moving_foot)
double finish_time_advance_ratio_y
double finish_time_advance_ratio_roll
double start_time_delay_ratio_pitch
double start_time_delay_ratio_roll
std::ostream & operator<<(std::ostream &out, const Pose3D &pose)
double shoulder_swing_gain
double start_time_delay_ratio_yaw