File: thormang3_walking_module_msgs/StepTimeData.msg
Message Definition
## 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
Description Time related Step Data Parameters
int16 walking_state
Flag for the Walking State
int16 InWalkingStarting = 0 #WalkingStarting
int16 InWalking = 1 #Walking
int16 InWalkingEnding = 2 #WalkingEnding
` 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.
dsp_ratio >= 0.0 dsp_ratio < 1.0, recommand value is 0.2
` float32 start_time_delay_ratio_x` Set the delay ratio of the start time for the movement on X axis.
` float32 start_time_delay_ratio_y` Set the delay ratio of the start time for the movement on Y axis.
` float32 start_time_delay_ratio_z` Set the delay ratio of the start time for the movement on Z axis.
` float32 start_time_delay_ratio_roll` Set the delay ratio of the start time for the roll movement.
` float32 start_time_delay_ratio_pitch` Set the delay ratio of the start time for the pitch movement.
` float32 start_time_delay_ratio_yaw` Set the delay ratio of the start time for the yaw movement.
` float32 finish_time_advance_ratio_x` Set the advance ratio of the finish time for the movement on X axis.
` float32 finish_time_advance_ratio_y` Set the advance ratio of the finish time for the movement on Y axis.
` float32 finish_time_advance_ratio_z` Set the advance ratio of the finish time for the movement on Z axis.
` float32 finish_time_advance_ratio_roll` Set the advance ratio of the finish time for the roll movement.
` float32 finish_time_advance_ratio_pitch` Set the advance ratio of the finish time for the pitch movement.
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