public class Ankle
extends java.lang.Object
Constructor and Description |
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Ankle(WalkBehaviorParameter p)
Constructor
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Modifier and Type | Method and Description |
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double |
getGamma(double t)
Calculate the gamma value based on the current cycle
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double |
getLen()
Retrieve ankle length
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double |
getTheta(double t)
Calculate the theta value based on the current cycle
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double |
getXValue(double t)
Calculate the x value based on the current cycle
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double |
getZValue(double t)
Calculate the z value based on the current cycle
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public Ankle(WalkBehaviorParameter p)
p
- Walking parameterspublic double getLen()
public double getTheta(double t)
t
- Cycle number (>0)public double getGamma(double t)
t
- Cycle number (>0)public double getXValue(double t)
t
- Cycle number (>0)public double getZValue(double t)
t
- Cycle number (>0)