step Struct Reference

Describes the timing of a single step in a gait. More...

#include <step.hpp>

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

Public Attributes
float	duty_factor {}
	Fraction of the gait cycle, on [0, 1], in which the limb is in the stance phase. More...
float	delay {}
	Fraction of the gait cycle, on [0, 1], at which the limb enters the swing phase. More...

Detailed Description

Describes the timing of a single step in a gait.

Definition at line 26 of file step.hpp.

Member Function Documentation

phase()

float step::phase ( float  t ) const

noexcept

Returns the phase of the step at the given gait phase.

Parameters

t	Gait phase, on [0, 1].

Returns

Step phase, on [-1, 1]. Values on [-1, 0) indicate a stance phase, while values on [0, 1] indicate a swing phase.

Definition at line 24 of file step.cpp.

Member Data Documentation

delay

float step::delay {}

Fraction of the gait cycle, on [0, 1], at which the limb enters the swing phase.

Definition at line 33 of file step.hpp.

duty_factor

float step::duty_factor {}

Fraction of the gait cycle, on [0, 1], in which the limb is in the stance phase.

Definition at line 30 of file step.hpp.

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

• step.hpp
• step.cpp