Data struct for passing gait engine input data from the generic gait motion module to the gait engine that it manages. More...

Public Attributes
double	jointPos [NUM_JOINTS]
	Current measured position of each joint (indexed by the `JointID` enum, in `rad`).

double	timestamp
	The current time in seconds (guaranteed to be monotonic increasing)

double	nominaldT
	The nominal time between calls to the gait engine's `step()` function.

double	truedT
	The true time since the last call to the gait engine's `step()` function. This value is coerced to avoid spikes.

GaitCommand	gaitCmd
	Gait command (e.g. desired walking velocity and so on).

bool	motionPending
	Boolean flag whether a motion is pending.

MotionID	motionID
	The ID of the motion that is pending.

MotionStance	motionStance
	The stopping stance required for the playing of the pending motion.

bool	motionAdjustLeftFoot
	Boolean flag whether the left foot should be used to adjust the stopping stance.

bool	motionAdjustRightFoot
	Boolean flag whether the right foot should be used to adjust the stopping stance.

Detailed Description

Data struct for passing gait engine input data from the generic gait motion module to the gait engine that it manages.

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

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

Public Member Functions