StepTimeData_msg
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File:
thormang3_walking_module_msgs/StepTimeData.msg
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Message Definition ```c ## WalkingStateFlag int16 walking_state int16 InWalkingStarting=0 #WalkingStarting int16 InWalking= 1 #Walking int16 InWalkingEnding=2 #WalkingEnding
# global time (Unit:sec) float32 abs_step_time
# dsp_ratio >= 0.0 dsp_ratio < 1.0, recommand value is 0.2 float32 dsp_ratio
# 0.0 <= start_time_delay_ratio < 1.0 # 0.0 <= finish_time_advance_ratio < 1.0 # 0.0 <= start_time_delay_ratio + finish_time_advance_ratio < 1.0 # default value is 0.0 float32 start_time_delay_ratio_x float32 start_time_delay_ratio_y float32 start_time_delay_ratio_z float32 start_time_delay_ratio_roll float32 start_time_delay_ratio_pitch float32 start_time_delay_ratio_yaw float32 finish_time_advance_ratio_x float32 finish_time_advance_ratio_y float32 finish_time_advance_ratio_z float32 finish_time_advance_ratio_roll float32 finish_time_advance_ratio_pitch float32 finish_time_advance_ratio_yaw ```
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Description Time related Step Data Parameters
int16 walking_state
Flag for the Walking Stateint16 InWalkingStarting = 0 #WalkingStarting int16 InWalking = 1 #Walking int16 InWalkingEnding = 2 #WalkingEnding
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` float32 abs_step_time` Time to terminate current step. The unit is in second and the parameter has to be set in accordance with the global time.
- ` float32 dsp_ratio`
DSP(Double Support Phase) ratio of current step
dsp_ratio >= 0.0 dsp_ratio < 1.0, recommand value is 0.2
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` float32 start_time_delay_ratio_x` Set the delay ratio of the start time for the movement on X axis.
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` float32 start_time_delay_ratio_y` Set the delay ratio of the start time for the movement on Y axis.
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` float32 start_time_delay_ratio_z` Set the delay ratio of the start time for the movement on Z axis.
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` float32 start_time_delay_ratio_roll` Set the delay ratio of the start time for the roll movement.
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` float32 start_time_delay_ratio_pitch` Set the delay ratio of the start time for the pitch movement.
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` float32 start_time_delay_ratio_yaw` Set the delay ratio of the start time for the yaw movement.
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` float32 finish_time_advance_ratio_x` Set the advance ratio of the finish time for the movement on X axis.
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` float32 finish_time_advance_ratio_y` Set the advance ratio of the finish time for the movement on Y axis.
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` float32 finish_time_advance_ratio_z` Set the advance ratio of the finish time for the movement on Z axis.
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` float32 finish_time_advance_ratio_roll` Set the advance ratio of the finish time for the roll movement.
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` float32 finish_time_advance_ratio_pitch` Set the advance ratio of the finish time for the pitch movement.
- ` float32 finish_time_advance_ratio_yaw`
Set the advance ratio of the finish time for the yaw movement.
Start Time Delay Ratio and Finish Time Advance Ratio have to fulfill following conditions.
0.0 <= start_time_delay_ratio < 1.0 0.0 <= finish_time_advance_ratio < 1.0 0.0 <= start_time_delay_ratio + finish_time_advance_ratio < 1.0 default value is 0.0