File: thormang3_walking_module_msgs/StepTimeData.msg
Message Definition

   ## WalkingStateFlag
   int16   walking_state
   int16   InWalkingStarting=0 #WalkingStarting
   int16   InWalking= 1        #Walking
   int16   InWalkingEnding=2   #WalkingEnding

   # global time (Unit:sec)
    float32 abs_step_time

   # dsp_ratio >= 0.0 dsp_ratio < 1.0, recommand value is 0.2
    float32 dsp_ratio

   # 0.0 <= start_time_delay_ratio    < 1.0
   # 0.0 <= finish_time_advance_ratio < 1.0
   # 0.0 <= start_time_delay_ratio +  finish_time_advance_ratio < 1.0
   # default value is 0.0
   float32 start_time_delay_ratio_x
   float32 start_time_delay_ratio_y
   float32 start_time_delay_ratio_z
   float32 start_time_delay_ratio_roll
   float32 start_time_delay_ratio_pitch
   float32 start_time_delay_ratio_yaw
   float32 finish_time_advance_ratio_x
   float32 finish_time_advance_ratio_y
   float32 finish_time_advance_ratio_z
   float32 finish_time_advance_ratio_roll
   float32 finish_time_advance_ratio_pitch
   float32 finish_time_advance_ratio_yaw

Description Time related Step Data Parameters
- int16 walking_state Flag for the Walking State
```
  int16 InWalkingStarting = 0 #WalkingStarting
  int16 InWalking = 1         #Walking
  int16 InWalkingEnding = 2   #WalkingEnding
```
- ` float32 abs_step_time` Time to terminate current step. The unit is in second and the parameter has to be set in accordance with the global time.
- ` float32 dsp_ratio` DSP(Double Support Phase) ratio of current step
```
  dsp_ratio >= 0.0 dsp_ratio < 1.0, recommand value is 0.2
```
- ` float32 start_time_delay_ratio_x` Set the delay ratio of the start time for the movement on X axis.
- ` float32 start_time_delay_ratio_y` Set the delay ratio of the start time for the movement on Y axis.
- ` float32 start_time_delay_ratio_z` Set the delay ratio of the start time for the movement on Z axis.
- ` float32 start_time_delay_ratio_roll` Set the delay ratio of the start time for the roll movement.
- ` float32 start_time_delay_ratio_pitch` Set the delay ratio of the start time for the pitch movement.
- ` float32 start_time_delay_ratio_yaw` Set the delay ratio of the start time for the yaw movement.
- ` float32 finish_time_advance_ratio_x` Set the advance ratio of the finish time for the movement on X axis.
- ` float32 finish_time_advance_ratio_y` Set the advance ratio of the finish time for the movement on Y axis.
- ` float32 finish_time_advance_ratio_z` Set the advance ratio of the finish time for the movement on Z axis.
- ` float32 finish_time_advance_ratio_roll` Set the advance ratio of the finish time for the roll movement.
- ` float32 finish_time_advance_ratio_pitch` Set the advance ratio of the finish time for the pitch movement.
- ` float32 finish_time_advance_ratio_yaw` Set the advance ratio of the finish time for the yaw movement. Start Time Delay Ratio and Finish Time Advance Ratio have to fulfill following conditions.
```
  0.0 <= start_time_delay_ratio    < 1.0
  0.0 <= finish_time_advance_ratio < 1.0
  0.0 <= start_time_delay_ratio +  finish_time_advance_ratio < 1.0
  default value is 0.0
```