HexapodConf Struct Reference
#include <hexapod.h>
Public Attributes | |
| double | size |
| scaling factor for robot (diameter of body) | |
| double | legLength |
| length of the legs in units of size | |
| int | legNumber |
| number of snake elements | |
| double | width |
| body with in units of size | |
| double | height |
| body with in units of size | |
| double | mass |
| chassis mass | |
| double | relLegmass |
| relative overall leg mass | |
| double | percentageBodyMass |
| double | coxaPower |
| maximal force for at hip joint motors | |
| double | coxaJointLimitV |
| angle range for vertical direction of legs | |
| double | coxaJointLimitH |
| angle range for horizontal direction of legs | |
| double | coxaDamping |
| damping of hip joint servos | |
| double | coxaSpeed |
| speed of the hip servo | |
| bool | useTebiaJoints |
| double | tebiaPower |
| whether to use joints at the knees | |
| double | tebiaJointLimit |
| angle range for knees | |
| double | tebiaOffset |
| angle offset for knees | |
| double | tebiaDamping |
| damping in the knees | |
| double | legSpreading |
| angle at which legs are spread to the front and back | |
| bool | tarsus |
| whether to use a tarsus or not | |
| int | numTarsusSections |
| the number of sections in the tarsus | |
| bool | useTarsusJoints |
| whether to use joints on the tarsus | |
| bool | useBigBox |
| whether to use a big invisible box on the back of the robot | |
| double | T |
| T is the for the time for calculating the cost of transport over time. | |
| double * | v |
| bool | ignoreInternalCollisions |
| bool | useContactSensors |
| matrix::Matrix | m |
| int * | legContacts |
| double | irSensors |
| bool | irFront |
| bool | irBack |
| bool | irLeft |
| bool | irRight |
| double | irRangeFront |
| double | irRangeBack |
| double | irRangeLeft |
| double | irRangeRight |
Member Data Documentation
| double coxaDamping |
damping of hip joint servos
| double coxaJointLimitH |
angle range for horizontal direction of legs
| double coxaJointLimitV |
angle range for vertical direction of legs
| double coxaPower |
maximal force for at hip joint motors
| double coxaSpeed |
speed of the hip servo
| double height |
body with in units of size
| bool irBack |
| bool irFront |
| bool irLeft |
| double irRangeBack |
| double irRangeFront |
| double irRangeLeft |
| double irRangeRight |
| bool irRight |
| double irSensors |
| int* legContacts |
| double legLength |
length of the legs in units of size
| int legNumber |
number of snake elements
| double legSpreading |
angle at which legs are spread to the front and back
| double mass |
chassis mass
the number of sections in the tarsus
| double percentageBodyMass |
| double relLegmass |
relative overall leg mass
| double size |
scaling factor for robot (diameter of body)
| double T |
T is the for the time for calculating the cost of transport over time.
| bool tarsus |
whether to use a tarsus or not
| double tebiaDamping |
damping in the knees
| double tebiaJointLimit |
angle range for knees
| double tebiaOffset |
angle offset for knees
| double tebiaPower |
whether to use joints at the knees
spring strength in the knees
| bool useBigBox |
whether to use a big invisible box on the back of the robot
| bool useContactSensors |
| bool useTarsusJoints |
whether to use joints on the tarsus
| bool useTebiaJoints |
| double* v |
| double width |
body with in units of size
The documentation for this struct was generated from the following file:
