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速度控制

通过速度控制，可以对行走进行反应控制，使机器人完成诸如目标跟踪等动作。由于最新的命令会覆盖所有以前的命令，因此您可以随时调用速度控制。

行走这个动作使用一个预览控制器来保证其平稳性。预览用时0.8秒，这也是行走时对新命令的反应时间。在最大步频时，相当于走两步的时间。

参数

• x [-1.0 to 1.0]：规定沿x轴（向前和向后）的步长，作为maxStepX的一部分。
• y [-1.0 to 1.0]：规定沿Y轴（横向）的步长，作为maxStepY的一部分。
• theta [-1.0 to 1.0]：规定两只脚之间的角度，作为maxStepTheta的一部分。左转（逆时针）时，值为正；右转（顺时针）时，值为负。
• frequency [0.0 to 1.0]：规定步频，作为minimumStepFrequency和maximumStepFrequency之间线性插值的一部分。一个循环由一个双腿支撑阶段及之后的一个单腿支撑阶段组成。

前进

            # Full speed forwards
            x = 1.0
            y = 0.0
            theta = 0.0
            frequency = 1.0
            proxy.setWalkTargetVelocity(x, y, theta, frequency)
          

后退

            # Full speed backwards
            x = -1.0
            y = 0.0
            theta = 0.0
            frequency = 1.0
            proxy.setWalkTargetVelocity(x, y, theta, frequency)
          

向左走

            # Full speed left
            x = 0.0
            y = 1.0
            theta = 0.0
            frequency = 1.0
            proxy.setWalkTargetVelocity(x, y, theta, frequency)
          

向右走

            # Full speed right
            x = 0.0
            y = -1.0
            theta = 0.0
            frequency = 1.0
            proxy.setWalkTargetVelocity(x, y, theta, frequency)
          

顺时针转动

            # Full speed clockwise
            x = 0.0
            y = 0.0
            theta = -1.0
            frequency = 1.0
            proxy.setWalkTargetVelocity(x, y, theta, frequency)
          

逆时针转动

            # Full speed anti-clockwise
            x = 0.0
            y = 0.0
            theta = 1.0
            frequency = 1.0
            proxy.setWalkTargetVelocity(x, y, theta, frequency)
          

停止行走

            # The frequency will be ignored if the velocity is zero
            proxy.setWalkTargetVelocity(0.0, 0.0, 0.0, frequency)
          

范例：

          # Example showing the use of setWalkTargetVelocity
          # The parameters are fractions of the maximum Step parmaters
          # Here we are asking for full speed forwards
          # with maximum step frequency
          x  = 1.0
          y  = 0.0
          theta  = 0.0
          frequency  = 1.0
          proxy.setWalkTargetVelocity(x, y, theta, frequency)
          
          # If we don't send another command, he will walk forever
          # Lets make him slow down(step length) and turn after 10 seconds
          time.sleep(10)
          x = 0.5
          theta = 0.6
          proxy.setWalkTargetVelocity(x, y, theta, frequency)
          
          # Lets make him slow down(frequency) after 5 seconds
          time.sleep(5)
          frequency  = 0.5
          proxy.setWalkTargetVelocity(x, y, theta, frequency)
          
          # After another 10 seconds, we'll make him stop
          time.sleep(10)
          proxy.setWalkTargetVelocity(0.0, 0.0, 0.0, frequency)
          
          # Note that at any time, you can use a walkTo command
          # to walk a precise distance. The last command received,
          # of velocity or position always wins
        

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