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.

• float32 dsp_ratio
     DSP(Double Support Phase) ratio of current step

    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.

• 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