StepTimeData_msg

• 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