internal void RequestMovement(double gaitSpeed, double travelLengthX, double travelLengthZ, double travelRotationY) { _gaitSpeedInMs = gaitSpeed; _travelLengthX = travelLengthX; _travelLengthZ = travelLengthZ; _travelRotationY = travelRotationY; _oscillateStopwatch.Restart(); }
/// <summary> /// /// </summary> /// <param name="gaitSpeed"></param> /// <param name="travelLengthX"></param> /// <param name="travelLengthZ">Negative numbers equals forward movement</param> /// <param name="travelRotationY"></param> internal void RequestMovement(double gaitSpeed, double travelLengthX, double travelLengthZ, double travelRotationY) { _inverseKinematics.RequestMovement(gaitSpeed, travelLengthX, travelLengthZ, travelRotationY); }