File: thormang3_walking_module_msgs/StepTimeData.msg
Raw Message Definition
#### StepTimeData
## WalkingStateFlag
int16 walking_state
int16 IN_WALKING_STARTING = 0 #WalkingStarting
int16 IN_WALKING = 1 #Walking
int16 IN_WALKING_ENDING = 2 #WalkingEnding
## Unit [sec]
float32 abs_step_time #global time
# dsp_ratio >= 0.0 dsp_ratio < 1.0, recommend value is 0.2
float32 dsp_ratio
# 0.0 <= start_time_delay_ratio < 1.0
# 0.0 <= finish_time_advance_ratio < 1.0
# 0.0 <= start_time_delay_ratio + finish_time_advance_ratio < 1.0
# default value is 0.0
float32 start_time_delay_ratio_x
float32 start_time_delay_ratio_y
float32 start_time_delay_ratio_z
float32 start_time_delay_ratio_roll
float32 start_time_delay_ratio_pitch
float32 start_time_delay_ratio_yaw
float32 finish_time_advance_ratio_x
float32 finish_time_advance_ratio_y
float32 finish_time_advance_ratio_z
float32 finish_time_advance_ratio_roll
float32 finish_time_advance_ratio_pitch
float32 finish_time_advance_ratio_yaw
Compact Message Definition
int16 IN_WALKING_STARTING=0
int16 IN_WALKING=1
int16 IN_WALKING_ENDING=2
int16 walking_state
float32 abs_step_time
float32 dsp_ratio
float32 start_time_delay_ratio_x
float32 start_time_delay_ratio_y
float32 start_time_delay_ratio_z
float32 start_time_delay_ratio_roll
float32 start_time_delay_ratio_pitch
float32 start_time_delay_ratio_yaw
float32 finish_time_advance_ratio_x
float32 finish_time_advance_ratio_y
float32 finish_time_advance_ratio_z
float32 finish_time_advance_ratio_roll
float32 finish_time_advance_ratio_pitch
float32 finish_time_advance_ratio_yaw