legged_locomotion_component Struct Reference

Legged terrestrial locomotion. More...

#include <legged-locomotion-component.hpp>

Public Attributes
math::fvec3	force {0.0f, 0.0f, 0.0f}
	Force vector. More...
const pose *	midstance_pose {}
const pose *	midswing_pose {}
const pose *	liftoff_pose {}
const pose *	touchdown_pose {}
std::vector< bone_index_type >	tip_bones
	Indices of the the final bones in the legs. More...
bone_index_type	body_bone {}
std::uint8_t	leg_bone_count {}
	Number of bones per leg. More...
std::shared_ptr<::gait >	gait
float	standing_height {}
float	stride_length {}
	Distance covered in a single gait cycle. More...
float	max_angular_frequency {}
	Maximum angular frequency when turning, in radians per second. More...
float	speed {}
float	angular_velocity {}
math::fvec3	target_direction {}
float	gait_phase {}
	Current phase of the gait cycle, on [0, 1]. More...

Detailed Description

Legged terrestrial locomotion.

Definition at line 32 of file legged-locomotion-component.hpp.

Member Data Documentation

angular_velocity

float legged_locomotion_component::angular_velocity {}

Definition at line 62 of file legged-locomotion-component.hpp.

body_bone

bone_index_type legged_locomotion_component::body_bone {}

Definition at line 45 of file legged-locomotion-component.hpp.

force

math::fvec3 legged_locomotion_component::force {0.0f, 0.0f, 0.0f}

Force vector.

Definition at line 35 of file legged-locomotion-component.hpp.

gait

std::shared_ptr<::gait> legged_locomotion_component::gait

Definition at line 50 of file legged-locomotion-component.hpp.

gait_phase

float legged_locomotion_component::gait_phase {}

Current phase of the gait cycle, on [0, 1].

Definition at line 67 of file legged-locomotion-component.hpp.

leg_bone_count

std::uint8_t legged_locomotion_component::leg_bone_count {}

Number of bones per leg.

Definition at line 48 of file legged-locomotion-component.hpp.

liftoff_pose

const pose* legged_locomotion_component::liftoff_pose {}

Definition at line 39 of file legged-locomotion-component.hpp.

max_angular_frequency

float legged_locomotion_component::max_angular_frequency {}

Maximum angular frequency when turning, in radians per second.

Definition at line 58 of file legged-locomotion-component.hpp.

midstance_pose

const pose* legged_locomotion_component::midstance_pose {}

Definition at line 37 of file legged-locomotion-component.hpp.

midswing_pose

const pose* legged_locomotion_component::midswing_pose {}

Definition at line 38 of file legged-locomotion-component.hpp.

speed

float legged_locomotion_component::speed {}

Definition at line 60 of file legged-locomotion-component.hpp.

standing_height

float legged_locomotion_component::standing_height {}

Definition at line 52 of file legged-locomotion-component.hpp.

stride_length

float legged_locomotion_component::stride_length {}

Distance covered in a single gait cycle.

Definition at line 55 of file legged-locomotion-component.hpp.

target_direction

math::fvec3 legged_locomotion_component::target_direction {}

Definition at line 64 of file legged-locomotion-component.hpp.

tip_bones

std::vector<bone_index_type> legged_locomotion_component::tip_bones

Indices of the the final bones in the legs.

Definition at line 43 of file legged-locomotion-component.hpp.

touchdown_pose

const pose* legged_locomotion_component::touchdown_pose {}

Definition at line 40 of file legged-locomotion-component.hpp.

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

• legged-locomotion-component.hpp