Foot sole properties. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d	leftAnkleOffset
	Offset from center to ankle frames in the left sole frame. More...

double	friction = 0.7
	Friction coefficient. More...

double	halfLength = 0.112
	Half-length of the sole in [m]. More...

double	halfWidth = 0.065
	Half-width of the sole in [m]. More...

Detailed Description

Foot sole properties.

Definition at line 38 of file Sole.h.

Member Data Documentation

double lipm_walking::Sole::friction = 0.7

Friction coefficient.

Definition at line 44 of file Sole.h.

double lipm_walking::Sole::halfLength = 0.112

Half-length of the sole in [m].

Definition at line 45 of file Sole.h.

double lipm_walking::Sole::halfWidth = 0.065

Half-width of the sole in [m].

Definition at line 46 of file Sole.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d lipm_walking::Sole::leftAnkleOffset

Initial value:

=

Eigen::Vector2d::Zero()

Offset from center to ankle frames in the left sole frame.

Definition at line 42 of file Sole.h.