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Footstep Class Reference

A data structure for a single footstep position. More...

Collaboration diagram for Footstep:

Public Member Functions

function Footstep (pos, id, frame_id, is_in_contact, pos_fixed, terrain_pts, infeasibility, walking_params)
 
function to_footstep_t (obj, biped)
 

Static Public Member Functions

static function from_footstep_t (msg, biped)
 

Public Attributes

Property pos
 
Property id
 
Property frame_id
 
Property is_in_contact
 
Property pos_fixed
 
Property terrain_pts
 
Property infeasibility
 
Property walking_params
 
Constant Property SUPPORT_GROUPS_HEEL_TOE
 
Constant Property SUPPORT_GROUPS_MIDFOOT_TOE
 
Constant Property SUPPORT_GROUPS_HEEL_MIDFOOT
 
Constant Property support_contact_groups_enum_to_cell
 
Constant Property support_contact_groups_str_to_enum
 

Detailed Description

A data structure for a single footstep position.

The pose of the footstep is assumed to be expressed as the [x,y,z,r,p,y] pose of the center sole of the foot, which is the location expressed by the Drake frame given by frame_id

Constructor & Destructor Documentation

function Footstep ( pos  ,
id  ,
frame_id  ,
is_in_contact  ,
pos_fixed  ,
terrain_pts  ,
infeasibility  ,
walking_params   
)
Return values
obj

Member Function Documentation

static function from_footstep_t ( msg  ,
biped   
)
static
Return values
footstep
function to_footstep_t ( obj  ,
biped   
)
Return values
msg

Member Data Documentation

Property frame_id
Property id
Property infeasibility
Property is_in_contact
Property pos
Property pos_fixed
Constant Property support_contact_groups_enum_to_cell
Constant Property support_contact_groups_str_to_enum
Constant Property SUPPORT_GROUPS_HEEL_MIDFOOT
Constant Property SUPPORT_GROUPS_HEEL_TOE
Constant Property SUPPORT_GROUPS_MIDFOOT_TOE
Property terrain_pts
Property walking_params

The documentation for this class was generated from the following file: