* Modifier for the transform between target tip pose reference frames at the time of request and current time. * @param[in] transform The new trans

* Modifier for the current estimated force vector on the tip of this leg (from calculation of joint torques) * @param[in] tip_force The new tip fo

* Modifier for the current estimated force vector on the tip of this leg (from direct measurement) * @param[in] tip_force The new tip force estima

* Modifier for the current estimated torque vector on the tip of this leg (from calculation of joint torques) * @param[in] tip_torque The new tip

* Modifier for the current estimated torque vector on the tip of this leg (from direct measurement) * @param[in] tip_torque The new tip torque est

* Modifier for the flag denoting touchdown detection enabled. * @param[in] touchdown_detection The new value for the flag. */

* Modifier for the virtual damping ratio value used in the admittance control model of this leg. * @param[in] damping_ratio The new virtual dampin

* Modifier for the virtual mass value used in the admittance control model of this leg. * @param[in] mass The new virtual mass value. */

* Modifier for the current virtual stiffness value used in the admittance control model of this leg. * @param[in] stiffness The new virtual stiffn

Modifier for amplitude of x axis component of linear translation in auto pose. */

Modifier for amplitude of y axis component of linear translation in auto pose. */

Modifier for amplitude of yaw component of angular rotation in auto pose. */

Modifier for amplitude of z axis component of linear translation in auto pose. */

/ * Applies inverse kinematics to calculate required change in joint positions to achieve desired tip pose. Inverse * kinematics is generated via the

/ * Iterates through legs in robot model and attempts to step each from their current tip position to their default tip * position (as defined by the

/ * Callback handling the desired system state. Sends message to user interface when system enters OPERATIONAL state. * @param[in] input The Int8 sta

/ * Callback which handles setting target body pose for pose controller from planner interface. * @param target_body_pose The desired configuration t

/ * Callback which handles setting desired configuration for pose controller from planner interface. * @param[in] target_configuration The desired co

/ * Callback which handles externally set target tip poses to be reached at end of swing periods OR during planning mode * @param[in] msg The target

/ * Callback which handles acquisition of tip states from external sensors. Attempts to populate leg objects with * available current tip force/torqu

* Handles transitions of robot state and moves the robot as required for the new state. * The transition from one state to another may require severa

/ * Updates the auto pose by feeding each Auto Poser object a phase value and combining the output of each Auto Poser * object into a single pose. Th

/ * Poses the body of the robot according to errors in IK for each leg. Ideally, moves legs into configuration * to achieve desired tip positions whi

/ * Attempts to generate a pose (pitch/roll rotation only) for the robot model to 'correct' any differences between the * desired pose rotation and t

/ * Attempts to generate a pose (x/y linear translation only) which shifts the assumed centre of gravity of the body to * the vertically projected ce

/ * Updates the joint positions of each joint in this leg based on the input vector. Clamps joint velocities and * positions based on limits and calc

/ * Generates a manual pose to be applied to the robot model, based on linear (x/y/z) and angular (roll/pitch/yaw) * velocity body posing inputs. Cla

/ * Updates the stride vector for this leg based on desired linear and angular velocity, with reference to the estimated * walk plane. Also updates t

/ * Updates a body pose that, when applied, orients the last joint of a swinging leg inline with the tip along the walk * plane normal. This causes t

/ * Calculates a estimated walk plane which best fits the default tip positions of legs in model. * Walk plane vector in form: [a, b, c] where plane

/ * Calculates a pose for the robot body such that the robot body is parallel to a calculated walk plane at a normal * offset of the body clearance

/ * StateController object destructor ****************************************************************************************************************