#include <vierbeiner.h>

Public Attributes
double	size
	scaling factor for robot (diameter of body) More...

double	legLength
	length of the legs in units of size More...

int	legNumber
	number of snake elements More...

double	mass
	chassis mass More...

double	relLegmass
	relative overall leg mass More...

double	powerFactor
	global factor for power parameters More...

double	dampingFactor
	global factor for damping parameters More...

double	hipPower
	maximal force for at hip joint motors More...

double	hipDamping
	damping of hio joint servos More...

double	hipJointLimit
	angle range for legs More...

double	kneePower
	spring strength in the knees More...

double	kneeJointLimit
	angle range for knees More...

double	kneeDamping
	damping in the knees More...

double	anklePower
	spring strength in the ankles More...

double	ankleDamping
	damping in the ankles More...

bool	hippo
	"dog" looks like a hippopotamus More...

bool	drawstupidface

bool	useBigBox
	use big box on back or not More...

bool	legBodyCollisions
	legs and body collide More...

Member Data Documentation

double ankleDamping

damping in the ankles

double anklePower

spring strength in the ankles

double dampingFactor

global factor for damping parameters

bool drawstupidface

double hipDamping

damping of hio joint servos

double hipJointLimit

angle range for legs

bool hippo

"dog" looks like a hippopotamus

double hipPower

maximal force for at hip joint motors

double kneeDamping

damping in the knees

double kneeJointLimit

angle range for knees

double kneePower

spring strength in the knees

bool legBodyCollisions

legs and body collide

double legLength

length of the legs in units of size

int legNumber

number of snake elements

double mass

chassis mass

double powerFactor

global factor for power parameters

double relLegmass

relative overall leg mass

double size

scaling factor for robot (diameter of body)

bool useBigBox

use big box on back or not

The documentation for this struct was generated from the following file:

Public Attributes