Fawkes API  Fawkes Development Version
fawkes::HumanoidMotionInterface::HumanoidMotionInterface_data_t Struct Reference

Internal data storage, do NOT modify! More...

List of all members.

Public Attributes

int64_t timestamp_sec
 Interface Unix timestamp, seconds.
int64_t timestamp_usec
 Interface Unix timestamp, micro-seconds.
bool walking
 True if the robot is currently moving.
LegEnum supporting_leg
 Marks the supporting leg.
float max_step_length
 Maximum length of a footstep in m.
float max_step_height
 Maxium height of a footstep cycloid in m.
float max_step_side
 Maximum length of side step in m.
float max_step_turn
 Maximum change around vertical axis on radians per footstep.
float zmp_offset_forward
 Zero moment point offset in forward direction in m.
float zmp_offset_sideward
 Zero moment point offset in sideward direction in m.
float l_hip_roll_compensation
 Amplitude in degrees of backlash compensation for left hip roll.
float r_hip_roll_compensation
 Amplitude in degrees of backlash compensation for left hip roll.
float hip_height
 Height of hip during walk process.
float torso_sideward_orientation
 Torso orientation in degrees in sideward direction during walking.
bool arms_enabled
 If true the arms are controlled during walking for balancing.
float shoulder_pitch_median
 Median in radians of the shoulder pitch during walking.
float shoulder_pitch_amplitude
 Amplitude of the shoulder pitch movement during walking.
float elbow_roll_median
 Median in radians of the elbow roll during walking.
float elbow_roll_amplitude
 Amplitude of the elbow roll movement during walking.
uint32_t msgid
 The ID of the message that is currently being processed, or 0 if no message is being processed.

Detailed Description

Internal data storage, do NOT modify!


Member Data Documentation

Height of hip during walk process.

This is fitted to the Nao and is possibly not applicable to other robots.

Definition at line 97 of file HumanoidMotionInterface.h.

Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::hip_height(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_hip_height().

Amplitude in degrees of backlash compensation for left hip roll.

This is fitted to the Nao and is possibly not applicable to other robots.

Definition at line 89 of file HumanoidMotionInterface.h.

Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::l_hip_roll_compensation(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_l_hip_roll_compensation().

The ID of the message that is currently being processed, or 0 if no message is being processed.

Definition at line 120 of file HumanoidMotionInterface.h.

Amplitude in degrees of backlash compensation for left hip roll.

This is fitted to the Nao and is possibly not applicable to other robots.

Definition at line 93 of file HumanoidMotionInterface.h.

Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::r_hip_roll_compensation(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_r_hip_roll_compensation().

Torso orientation in degrees in sideward direction during walking.

This is fitted to the Nao and is possibly not applicable to other robots.

Definition at line 101 of file HumanoidMotionInterface.h.

Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::torso_sideward_orientation(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_torso_sideward_orientation().

True if the robot is currently moving.

Definition at line 69 of file HumanoidMotionInterface.h.


The documentation for this struct was generated from the following file: