defConstraints Class Reference

Default footstep constraints. More...

#include <WMG.h>

Public Member Functions
	defConstraints ()
void	init ()
void	init_FSR ()

Public Attributes
double	ss_left [4]
	Support constraints with safety margin. More...
double	ss_right [4]
double	ds [4]
	Both feet standing together. More...
double	auto_ds [4]
	Automatically added DS. More...
double	support_distance_y
	Distance between reference points of the feet. More...

Detailed Description

Default footstep constraints.

Constraints are represented as four (positive) numbers indicating the distance between the foot reference point (the position of ankle joint) and edges of support rectangle. The order of these numbers is illustrated below:

left/back +——————————–+ left/front | |d(1) | | d(2) | d(0) | |———- p ——————-| | | | | |d(3) | right/back +——————————–+ right/front

Definition at line 134 of file WMG.h.

Constructor & Destructor Documentation

defConstraints()

defConstraints::defConstraints ( )

inline

Definition at line 151 of file WMG.h.

Member Function Documentation

init()

void defConstraints::init ( )

inline

Definition at line 157 of file WMG.h.

init_FSR()

void defConstraints::init_FSR ( )

inline

Definition at line 178 of file WMG.h.

Member Data Documentation

auto_ds

double defConstraints::auto_ds[4]

Automatically added DS.

Definition at line 145 of file WMG.h.

ds

double defConstraints::ds[4]

Both feet standing together.

Definition at line 142 of file WMG.h.

ss_left

double defConstraints::ss_left[4]

Support constraints with safety margin.

Definition at line 138 of file WMG.h.

ss_right

double defConstraints::ss_right[4]

Definition at line 139 of file WMG.h.

support_distance_y

double defConstraints::support_distance_y

Distance between reference points of the feet.

Definition at line 148 of file WMG.h.

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

• include/WMG.h