Cheetah Software
1.0
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#include <GaitScheduler.h>
Public Member Functions | |
GaitScheduler () | |
~GaitScheduler () | |
void | initialize () |
void | step () |
void | createGait () |
void | printGaitInfo () |
Public Attributes | |
GaitData< T > | gaitData |
Private Attributes | |
T | dt = 0.001 |
T | dphase |
int | printNum = 5 |
int | printIter = 0 |
Definition at line 87 of file GaitScheduler.h.
GaitScheduler< T >::GaitScheduler | ( | ) |
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inline |
Definition at line 91 of file GaitScheduler.h.
void GaitScheduler< T >::createGait | ( | ) |
Creates the gait structure from the important defining parameters of each gait
To create a standard gait you should only need to define the following:
gaitData.periodTimeNominal gaitData.switchingPhaseNominal gaitData.phaseOffset
The rest can be set to:
gaitData.gaitEnabled << 1, 1, 1, 1; gaitData.initialPhase = 0.0; gaitData.phaseScale << 1.0, 1.0, 1.0, 1.0;
These add flexibility to be used for very irregular gaits and transitions.
Definition at line 212 of file GaitScheduler.cpp.
References AMBLE, BOUND, CUSTOM, PACE, PRONK, ROTARY_GALLOP, STAND, STAND_CYCLE, STATIC_WALK, THREE_FOOT, TRANSITION_TO_STAND, TRAVERSE_GALLOP, TROT, TROT_RUN, and TROT_WALK.
void GaitScheduler< T >::initialize | ( | ) |
void GaitScheduler< T >::printGaitInfo | ( | ) |
Prints relevant information about the gait and current gait state
Definition at line 424 of file GaitScheduler.cpp.
void GaitScheduler< T >::step | ( | ) |
Executes the Gait Schedule step to calculate values for the defining gait parameters.
Definition at line 89 of file GaitScheduler.cpp.
References STAND.
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private |
Definition at line 116 of file GaitScheduler.h.
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private |
Definition at line 113 of file GaitScheduler.h.
GaitData<T> GaitScheduler< T >::gaitData |
Definition at line 106 of file GaitScheduler.h.
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private |
Definition at line 122 of file GaitScheduler.h.
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private |
Definition at line 119 of file GaitScheduler.h.