gait Struct Reference

Describes the synchronized timing of limbs in a locomotion pattern. More...

#include <gait.hpp>

Public Member Functions
float	phase (float t) const noexcept
	Returns the phase of the gait at the elapsed time. More...

Public Attributes
float	frequency {}
	Frequency of the gait cycle, in Hz. More...
std::vector< step >	steps
	Array of steps for each limb. More...

Detailed Description

Describes the synchronized timing of limbs in a locomotion pattern.

Definition at line 29 of file gait.hpp.

Member Function Documentation

phase()

float gait::phase ( float  t ) const

noexcept

Returns the phase of the gait at the elapsed time.

Parameters

t	Elapsed time, in seconds.

Returns

Gait phase, on [0, 1].

Definition at line 24 of file gait.cpp.

Member Data Documentation

frequency

float gait::frequency {}

Frequency of the gait cycle, in Hz.

Definition at line 33 of file gait.hpp.

steps

std::vector<step> gait::steps

Array of steps for each limb.

Definition at line 36 of file gait.hpp.

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The documentation for this struct was generated from the following files:

• gait.hpp
• gait.cpp