cstructs

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Index

• type GaitConfig
  • func (gaitConfig *GaitConfig) Init(kneeOrientation string, pantoLeg bool, odomScalar float32, ...) *GaitConfig
• type Pose
• type Rotation
  • func (rotation *Rotation) FromEulerAngles(psi float32, theta float32, phi float32) *Rotation
  • func (rotation *Rotation) RotateX(phi float32) *Rotation
  • func (rotation *Rotation) RotateY(theta float32) *Rotation
  • func (rotation *Rotation) RotateZ(psi float32) *Rotation
• type Transformation
  • func (transformation Transformation) Identify() Transformation
  • func (transformation Transformation) RotateX(phi float32) Transformation
  • func (transformation Transformation) RotateY(theta float32) Transformation
  • func (transformation Transformation) RotateZ(psi float32) Transformation
  • func (transformation Transformation) SetX(x float32)
  • func (transformation Transformation) SetY(y float32)
  • func (transformation Transformation) SetZ(z float32)
  • func (transformation Transformation) Translate(x float32, y float32, z float32) Transformation
  • func (transformation Transformation) X() float32
  • func (transformation Transformation) Y() float32
  • func (transformation Transformation) Z() float32
• type Velocities

Types

type GaitConfig

type GaitConfig struct {
	KneeOrientation    string
	PantographLeg      bool
	OdomScalar         float32
	MaxLinearVelocity  hmath.Vec2
	MaxAngularVelocity float32
	ComXTranslation    float32
	SwingHeight        float32
	StanceDepth        float32
	StanceDuration     float32
	NominalHeight      float32
}

func (*GaitConfig) Init

func (gaitConfig *GaitConfig) Init(kneeOrientation string, pantoLeg bool, odomScalar float32,
	maxLinearVelocity hmath.Vec2, comXTrans float32, swingHeight float32, stanceDepth float32,
	stanceDuration float32, nominalHeight float32) *GaitConfig

type Pose

type Pose struct {
	Position    hmath.Vec3
	Orientation hmath.Vec3
}

type Rotation

type Rotation struct {
	Mat3 hmath.Mat3
}

func (*Rotation) FromEulerAngles

func (rotation *Rotation) FromEulerAngles(psi float32, theta float32, phi float32) *Rotation

func (*Rotation) RotateX

func (rotation *Rotation) RotateX(phi float32) *Rotation

func (*Rotation) RotateY

func (rotation *Rotation) RotateY(theta float32) *Rotation

func (*Rotation) RotateZ

func (rotation *Rotation) RotateZ(psi float32) *Rotation

type Transformation

type Transformation struct {
	Rotation Rotation
	Point    hmath.Vec3
}

func (Transformation) Identify

func (transformation Transformation) Identify() Transformation

func (Transformation) RotateX

func (transformation Transformation) RotateX(phi float32) Transformation

func (Transformation) RotateY

func (transformation Transformation) RotateY(theta float32) Transformation

func (Transformation) RotateZ

func (transformation Transformation) RotateZ(psi float32) Transformation

func (Transformation) SetX

func (transformation Transformation) SetX(x float32)

func (Transformation) SetY

func (transformation Transformation) SetY(y float32)

func (Transformation) SetZ

func (transformation Transformation) SetZ(z float32)

func (Transformation) Translate

func (transformation Transformation) Translate(x float32, y float32, z float32) Transformation

func (Transformation) X

func (transformation Transformation) X() float32

func (Transformation) Y

func (transformation Transformation) Y() float32

func (Transformation) Z

func (transformation Transformation) Z() float32

type Velocities

type Velocities struct {
	Linear  hmath.Vec3
	Angular hmath.Vec3
}