Data struct that contains the information pertaining to a leg pose that should be common amongst all pose representations. More...

#include <gait_common_pose.h>

Public Member Functions
	CommonLegData (bool left=true)
	Default constructor.

void	reset (bool left=true)
	Reset function.

void	setEffort (double eff)
	Set the effort of the leg (equal for all joints)

void	setEffort (double effYaw, double effPitch, double effRoll)
	Set the effort of the leg (equal for all yaw, pitch and roll joints)

void	setEffort (double effHipYaw, double effHipRoll, double effHipPitch, double effKneePitch, double effAnklePitch, double effAnkleRoll)
	Set the effort of the leg (independent for each joint)

void	setSupportCoeff (double coeff)
	Set the support coefficient of the leg.

void	setLegSign (bool left)
	Set the sign of the leg.

void	setLinkLength (double length)
	Set the link length used for pose conversions.

Public Attributes
double	effortHipYaw
	Dimensionless effort value associated with the hip yaw (in the range `[0,1]`, 0 = No effort, 1 = Full effort)

double	effortHipRoll
	Dimensionless effort value associated with the hip roll (in the range `[0,1]`, 0 = No effort, 1 = Full effort)

double	effortHipPitch
	Dimensionless effort value associated with the hip pitch (in the range `[0,1]`, 0 = No effort, 1 = Full effort)

double	effortKneePitch
	Dimensionless effort value associated with the knee pitch (in the range `[0,1]`, 0 = No effort, 1 = Full effort)

double	effortAnklePitch
	Dimensionless effort value associated with the ankle pitch (in the range `[0,1]`, 0 = No effort, 1 = Full effort)

double	effortAnkleRoll
	Dimensionless effort value associated with the ankle roll (in the range `[0,1]`, 0 = No effort, 1 = Full effort)

double	supportCoeff
	Dimensionless support coefficient representing how much of the robot's weight is on this leg (in the range `[0,1]`, 0 = No support, 1 = Full support)

bool	isLeft
	Boolean flag that is `true` if this is a left leg and `false` if this is a right leg.

int	limbSign
	Integral value that is `+1` if this is a left leg and `-1` if this is a right leg.

double	linkLength
	The assumed (equal) length of the upper and lower leg links (used for joint pose conversions)

Detailed Description

Data struct that contains the information pertaining to a leg pose that should be common amongst all pose representations.

The assumed joint order is hip yaw → hip roll → hip pitch → knee pitch → ankle pitch → ankle roll. The upper and lower leg links are assumed to be of the same length (i.e. linkLength).

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

/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/include/gait/util/gait_common_pose.h

Public Member Functions

Public Attributes

Detailed Description