ocra-wbi-plugins/ocra-icub-clients/walking-client/include/walking-client/utils.h File Reference

#include <string>

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Classes
struct	singleStepTestParams
struct	steppingTestParams
struct	MIQPParameters
Defines
#define	STATE_VECTOR_SIZE   16
#define	INPUT_VECTOR_SIZE   12
Enumerations
enum	FOOT { LEFT_FOOT, RIGHT_FOOT, LEFT_FOOT, RIGHT_FOOT }
enum	ZmpTestType {   ZMP_CONSTANT_REFERENCE = 0, ZMP_VARYING_REFERENCE, COM_LIN_VEL_CONSTANT_REFERENCE, SINGLE_STEP,   STEPPING_TEST }

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Define Documentation

#define INPUT_VECTOR_SIZE   12

#define STATE_VECTOR_SIZE   16

---

Enumeration Type Documentation

enum FOOT

Enumerator:

LEFT_FOOT
RIGHT_FOOT
LEFT_FOOT
RIGHT_FOOT

enum ZmpTestType

Performs tests helpful to tune the gains used by the zmp and zmp preview controllers as well as the COM task. See configure() for additional information.

Enumerator:

ZMP_CONSTANT_REFERENCE
ZMP_VARYING_REFERENCE
COM_LIN_VEL_CONSTANT_REFERENCE
SINGLE_STEP
STEPPING_TEST