InvKinWalkingParameters::CorrectionValues Class Reference

#include <InvKinWalkingParameters.h>

List of all members.

Public Attributes

double forward
double backward
double sideward
double turning
double rotationCenter


Detailed Description

Factors to convert requested body speed to internal leg speed these values are read from odometry.cfg

Definition at line 137 of file InvKinWalkingParameters.h.


Member Data Documentation

double InvKinWalkingParameters::CorrectionValues::backward

for walking backwards

Definition at line 142 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingEngine::limitToMaxSpeed(), BB2004InvKinWalkingEngine::loadParameters(), InvKinWalkingParameters::readValues(), and BB2004InvKinWalkingEngine::setParameters().

double InvKinWalkingParameters::CorrectionValues::forward

for walking forward

Definition at line 140 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingParameters::interpolate(), InvKinWalkingEngine::limitToMaxSpeed(), BB2004InvKinWalkingEngine::loadParameters(), InvKinWalkingParameters::readValues(), and BB2004InvKinWalkingEngine::setParameters().

double InvKinWalkingParameters::CorrectionValues::rotationCenter

distance from neck joint to center of rotation when turning in x-direction

Definition at line 148 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingParameters::interpolate(), BB2004InvKinWalkingEngine::loadParameters(), and InvKinWalkingParameters::readValues().

double InvKinWalkingParameters::CorrectionValues::sideward

for walking sideways

Definition at line 144 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingParameters::interpolate(), InvKinWalkingEngine::limitToMaxSpeed(), BB2004InvKinWalkingEngine::loadParameters(), InvKinWalkingParameters::readValues(), and BB2004InvKinWalkingEngine::setParameters().

double InvKinWalkingParameters::CorrectionValues::turning

for turning

Definition at line 146 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateLegSpeeds(), InvKinWalkingParameters::interpolate(), InvKinWalkingEngine::limitToMaxSpeed(), BB2004InvKinWalkingEngine::loadParameters(), InvKinWalkingParameters::readValues(), and BB2004InvKinWalkingEngine::setParameters().


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