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gait::Gait Class Reference

Generic gait motion module that can execute a given GaitEngine. More...

#include <gait.h>

Inherits MotionModule.

Public Member Functions

 Gait ()
 Default constructor.
 
virtual ~Gait ()
 Destructor.
 
virtual bool init (robotcontrol::RobotModel *model)
 
virtual bool isTriggered ()
 
virtual void step ()
 
virtual void publishTransforms ()
 

Protected Member Functions

const std::string & gaitName () const
 Retrieve the name of the gait (e.g. if the parameter string is cpg_gait::CPGGait then the gait name is everything past the first double colon, i.e. CPGGait)
 

Detailed Description

Generic gait motion module that can execute a given GaitEngine.

The gait engine to use for an instance of the Gait motion module is specified via the motion module parameter string.

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