Fawkes API
Fawkes Development Version
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Internal data storage, do NOT modify! More...
Public Attributes | |
int64_t | timestamp_sec |
Interface Unix timestamp, seconds. | |
int64_t | timestamp_usec |
Interface Unix timestamp, micro-seconds. | |
bool | walking |
True if the robot is currently moving. | |
LegEnum | supporting_leg |
Marks the supporting leg. | |
float | max_step_length |
Maximum length of a footstep in m. | |
float | max_step_height |
Maxium height of a footstep cycloid in m. | |
float | max_step_side |
Maximum length of side step in m. | |
float | max_step_turn |
Maximum change around vertical axis on radians per footstep. | |
float | zmp_offset_forward |
Zero moment point offset in forward direction in m. | |
float | zmp_offset_sideward |
Zero moment point offset in sideward direction in m. | |
float | l_hip_roll_compensation |
Amplitude in degrees of backlash compensation for left hip roll. | |
float | r_hip_roll_compensation |
Amplitude in degrees of backlash compensation for left hip roll. | |
float | hip_height |
Height of hip during walk process. | |
float | torso_sideward_orientation |
Torso orientation in degrees in sideward direction during walking. | |
bool | arms_enabled |
If true the arms are controlled during walking for balancing. | |
float | shoulder_pitch_median |
Median in radians of the shoulder pitch during walking. | |
float | shoulder_pitch_amplitude |
Amplitude of the shoulder pitch movement during walking. | |
float | elbow_roll_median |
Median in radians of the elbow roll during walking. | |
float | elbow_roll_amplitude |
Amplitude of the elbow roll movement during walking. | |
uint32_t | msgid |
The ID of the message that is currently being processed, or 0 if no message is being processed. |
Internal data storage, do NOT modify!
If true the arms are controlled during walking for balancing.
Definition at line 105 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::is_arms_enabled(), and fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::set_arms_enabled().
Amplitude of the elbow roll movement during walking.
Definition at line 117 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::elbow_roll_amplitude(), and fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::set_elbow_roll_amplitude().
Median in radians of the elbow roll during walking.
Definition at line 114 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::elbow_roll_median(), and fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::set_elbow_roll_median().
Height of hip during walk process.
This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 97 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::hip_height(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_hip_height().
Amplitude in degrees of backlash compensation for left hip roll.
This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 89 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::l_hip_roll_compensation(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_l_hip_roll_compensation().
Maxium height of a footstep cycloid in m.
Definition at line 74 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_height(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_max_step_height().
Maximum length of a footstep in m.
Definition at line 71 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_length(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_max_step_length().
Maximum length of side step in m.
Definition at line 77 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_side(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_max_step_side().
Maximum change around vertical axis on radians per footstep.
Definition at line 80 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_turn(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_max_step_turn().
The ID of the message that is currently being processed, or 0 if no message is being processed.
Definition at line 120 of file HumanoidMotionInterface.h.
Amplitude in degrees of backlash compensation for left hip roll.
This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 93 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::r_hip_roll_compensation(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_r_hip_roll_compensation().
Amplitude of the shoulder pitch movement during walking.
Definition at line 111 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::shoulder_pitch_amplitude(), and fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::set_shoulder_pitch_amplitude().
Median in radians of the shoulder pitch during walking.
Definition at line 108 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::shoulder_pitch_median(), and fawkes::HumanoidMotionInterface::SetWalkArmsParamsMessage::set_shoulder_pitch_median().
Marks the supporting leg.
Definition at line 70 of file HumanoidMotionInterface.h.
Interface Unix timestamp, seconds.
Definition at line 67 of file HumanoidMotionInterface.h.
Interface Unix timestamp, micro-seconds.
Definition at line 68 of file HumanoidMotionInterface.h.
Torso orientation in degrees in sideward direction during walking.
This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 101 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::torso_sideward_orientation(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_torso_sideward_orientation().
True if the robot is currently moving.
Definition at line 69 of file HumanoidMotionInterface.h.
Zero moment point offset in forward direction in m.
Definition at line 83 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::zmp_offset_forward(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_zmp_offset_forward().
Zero moment point offset in sideward direction in m.
Definition at line 86 of file HumanoidMotionInterface.h.
Referenced by fawkes::HumanoidMotionInterface::SetWalkParamsMessage::zmp_offset_sideward(), and fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_zmp_offset_sideward().