Struct WalkResponse

Defined in File walk_utils.hpp

Struct Documentation

struct bitbots_quintic_walk::WalkResponse

Public Members

tf2::Transform support_foot_to_flying_foot = tf2::Transform(tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(0, 0, 0))

tf2::Transform support_foot_to_trunk = tf2::Transform(tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(0, 0, 0))

bool is_double_support = false

bool is_left_support_foot = false

double phase = 0.0

double traj_time = 0.0

double foot_distance = 0.0

WalkState state = WalkState::IDLE 

tf2::Transform support_to_last = tf2::Transform(tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(0, 0, 0))

tf2::Transform support_to_next = tf2::Transform(tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(0, 0, 0))

double current_pitch = 0.0

double current_fused_pitch = 0.0

double current_roll = 0.0

double current_fused_roll = 0.0

double roll_vel = 0.0

double pitch_vel = 0.0

double sup_cop_x = 0.0

double sup_cop_y = 0.0