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Public Member Functions |
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| LegParam () |
| | constructor
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Public Attributes |
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vector3d | neutral |
| | defines the "neutral" point of each leg - where it is in midstep
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vector3d | lift_vel |
| | give the velocities to use when raising the paw
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vector3d | down_vel |
| | give the velocities to use when lowering the paw
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double | lift_time |
| | the time (as percentage of WalkParam::period) in the cycle to lift (so you can set different offsets between the paws)
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double | down_time |
| | the time (as percentage of WalkParam::period) in the cycle to put down (so you can set different offsets between the paws)
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