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Public Member Functions |
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| WalkParam () |
| | constructor
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Public Attributes |
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LegParam | leg [4] |
| | a set of LegParam's, one for each leg
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double | body_height |
| | the height to hold the body (mm)
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double | body_angle |
| | the angle to hold the body (rad - 0 is level)
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double | hop |
| | sinusoidal hop amplitude
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double | sway |
| | sinusoidal sway in y direction
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long | period |
| | the time between steps
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long | useDiffDrive |
| | if non-zero, diff-drive style turning is used instead of rotational turning
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float | sag |
| | the amount to sagging to account for when a foot is lifted
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float | reserved |
| | just live with it
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