class to store information related to the leg. More...

#include <LegData.h>

Collaboration diagram for LegData:

Public Member Functions
	LegData (bool is_left, uint8_t *config_to_send)

void	reconfigure (uint8_t *config_to_send)
	reconfigures the the leg data if the configuration changes after constructor called.

Public Attributes
JointData	hip

JointData	knee

JointData	ankle

float	percent_gait

float	expected_step_duration

float	percent_stance

float	expected_stance_duration

float	percent_swing

float	expected_swing_duration

float	heel_fsr

float	heel_fsr_upper_threshold

float	heel_fsr_lower_threshold

float	toe_fsr

float	toe_fsr_upper_threshold

float	toe_fsr_lower_threshold

bool	ground_strike

bool	toe_strike

bool	toe_off

bool	toe_on

bool	heel_stance

bool	toe_stance

bool	prev_heel_stance

bool	prev_toe_stance

bool	is_left

bool	is_used

bool	do_calibration_toe_fsr

bool	do_calibration_refinement_toe_fsr

bool	do_calibration_heel_fsr

bool	do_calibration_refinement_heel_fsr

float	ankle_angle_at_ground_strike

float	expected_duration_window_upper_coeff

float	expected_duration_window_lower_coeff

Inclination	inclination

float	PHJM_state

Detailed Description

class to store information related to the leg.

Constructor & Destructor Documentation

◆ LegData()

LegData::LegData	(	bool	is_left,
		uint8_t *	config_to_send
	)

Member Function Documentation

◆ reconfigure()

void LegData::reconfigure ( uint8_t * config_to_send )

reconfigures the the leg data if the configuration changes after constructor called.

Parameters

configuration array

Here is the call graph for this function:

Member Data Documentation

◆ ankle

JointData LegData::ankle

data for the ankle joint

◆ ankle_angle_at_ground_strike

float LegData::ankle_angle_at_ground_strike

◆ do_calibration_heel_fsr

bool LegData::do_calibration_heel_fsr

flag for if the heel calibration should be done

◆ do_calibration_refinement_heel_fsr

bool LegData::do_calibration_refinement_heel_fsr

flag for if the heel calibration refinement should be done

◆ do_calibration_refinement_toe_fsr

bool LegData::do_calibration_refinement_toe_fsr

flag for if the toe calibration refinement should be done

◆ do_calibration_toe_fsr

bool LegData::do_calibration_toe_fsr

flag for if the toe calibration should be done

◆ expected_duration_window_lower_coeff

float LegData::expected_duration_window_lower_coeff

factor to multiply by the expected duration to get the lower limit of the window to determine if a ground strike is considered a new step.

◆ expected_duration_window_upper_coeff

float LegData::expected_duration_window_upper_coeff

factor to multiply by the expected duration to get the upper limit of the window to determine if a ground strike is considered a new step.

◆ expected_stance_duration

float LegData::expected_stance_duration

◆ expected_step_duration

float LegData::expected_step_duration

Estimate of how long the next step will take based on the most recent step times

◆ expected_swing_duration

float LegData::expected_swing_duration

◆ ground_strike

bool LegData::ground_strike

Trigger when we go from swing to one FSR making contact.

◆ heel_fsr

float LegData::heel_fsr

Calibrated FSR reading for the heel

◆ heel_fsr_lower_threshold

float LegData::heel_fsr_lower_threshold

◆ heel_fsr_upper_threshold

float LegData::heel_fsr_upper_threshold

◆ heel_stance

bool LegData::heel_stance

High when the heel FSR is in ground contact

◆ hip

JointData LegData::hip

data for the hip joint

◆ inclination

Inclination LegData::inclination

◆ is_left

bool LegData::is_left

1 if the leg is on the left, 0 otherwise

◆ is_used

bool LegData::is_used

1 if the leg is used, 0 otherwise

◆ knee

JointData LegData::knee

data for the knee joint

◆ percent_gait

float LegData::percent_gait

Estimate of the percent gait based on heel strike

◆ percent_stance

float LegData::percent_stance

◆ percent_swing

float LegData::percent_swing

◆ PHJM_state

float LegData::PHJM_state

state for the PHJM controller, else should be set to 0 (here so it can be plotted)

◆ prev_heel_stance

bool LegData::prev_heel_stance

High when the heel FSR was in ground contact on the previous iteration

◆ prev_toe_stance

bool LegData::prev_toe_stance

High when the toe FSR was in ground contact on the previous iteration

◆ toe_fsr

float LegData::toe_fsr

Calibrated FSR reading for the toe

◆ toe_fsr_lower_threshold

float LegData::toe_fsr_lower_threshold

◆ toe_fsr_upper_threshold

float LegData::toe_fsr_upper_threshold

◆ toe_off

bool LegData::toe_off

Trigger when we go from one FSR making contact to swing.

◆ toe_on

bool LegData::toe_on

◆ toe_stance

bool LegData::toe_stance

High when the toe FSR is in ground contact

◆ toe_strike

bool LegData::toe_strike

The documentation for this class was generated from the following files:

ExoCode/src/LegData.h
ExoCode/src/LegData.cpp

Public Member Functions

Public Attributes