step_data_define.h
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1 /*******************************************************************************
2 * Copyright 2018 ROBOTIS CO., LTD.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
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15 *******************************************************************************/
16 
17 /*
18  * step_data_define.h
19  *
20  * Created on: 2016. 8. 10.
21  * Author: Jay Song
22  */
23 
24 #ifndef ROBOTIS_MATH_STEP_DATA_DEFINE_H_
25 #define ROBOTIS_MATH_STEP_DATA_DEFINE_H_
26 
27 #include <ostream>
28 
29 namespace robotis_framework
30 {
31 
32 typedef struct
33 {
34  double x, y, z;
35 } Position3D;
36 
37 typedef struct
38 {
39  double x, y, z, roll, pitch, yaw;
40 } Pose3D;
41 
42 typedef struct
43 {
45  double foot_z_swap, body_z_swap;
46  double x_zmp_shift, y_zmp_shift;
47  double shoulder_swing_gain, elbow_swing_gain;
48  double waist_roll_angle, waist_pitch_angle, waist_yaw_angle;
53 
54 typedef struct
55 {
57  double abs_step_time, dsp_ratio;
58  double start_time_delay_ratio_x, start_time_delay_ratio_y, start_time_delay_ratio_z;
59  double start_time_delay_ratio_roll, start_time_delay_ratio_pitch, start_time_delay_ratio_yaw;
60  double finish_time_advance_ratio_x, finish_time_advance_ratio_y, finish_time_advance_ratio_z;
61  double finish_time_advance_ratio_roll, finish_time_advance_ratio_pitch, finish_time_advance_ratio_yaw;
62 } StepTimeData;
63 
64 typedef struct
65 {
68 } StepData;
69 
70 std::ostream& operator<<(std::ostream& out, const Pose3D& pose);
71 std::ostream& operator<<(std::ostream& out, const StepPositionData& position_data);
72 std::ostream& operator<<(std::ostream& out, const StepTimeData& time_data);
73 std::ostream& operator<<(std::ostream& out, const StepData& step_data);
74 }
75 
76 #endif /* ROBOTIS_MATH_STEP_DATA_DEFINE_H_ */
StepPositionData position_data
std::ostream & operator<<(std::ostream &out, const Pose3D &pose)


robotis_math
Author(s): SCH , Kayman , Jay Song
autogenerated on Fri Jul 17 2020 03:17:50