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

Public Attributes
double	jointCmd [NUM_JOINTS]
	Commanded position for each joint (indexed by the `JointID` enum, in `rad`).

double	jointEffort [NUM_JOINTS]
	Commanded joint effort (indexed by the `JointID` enum, in the range `[0,1]`).

bool	useRawJointCmds
	Apply the joint commands directly to the hardware, without using compensation or actuator controller(s) in-between.

bool	walking
	Flag specifying whether the gait is currently active and walking (`true`) or halted (`false`).

double	supportCoeffLeftLeg
	Current support coefficient of the left leg.

double	supportCoeffRightLeg
	Current support coefficient of the right leg.

double	odomPosition [3]
	Position `(x,y,z)` of the robot's body-fixed base transform (centred at the robot's centre of mass) in global odometry coordinates.

double	odomOrientation [4]
	Orientation `(w,x,y,z)` of the robot's body-fixed base transform (centred at the robot's centre of mass) relative to the global odometry frame.

Detailed Description

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

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