C——error: expected ‘:‘, ‘,‘, ‘；‘, ‘}‘ or ‘__attribute__‘ before ‘=‘ token的解决办法

一、原因

结构体中包含变量的初始化。

二、报错代码

struct GaitParams {
    float stance_height = 0.18; // Desired height of body from ground during walking (m)
    float down_amp = 0.00; // Peak amplitude below stanceHeight in sinusoidal trajectory (m)
    float up_amp = 0.06; // Height the foot peaks at above the stanceHeight in sinusoidal trajectory (m)
    float flight_percent = 0.6; // Portion of the gait time should be doing the down portion of trajectory
    float step_length = 0.0; // Length of entire step (m)
    float freq = 1.0; // Frequency of one gait cycle (Hz)
    float step_diff = 0.0; //difference between left and right leg step length
};

三、正确代码

struct GaitParams {
    float stance_height; // Desired height of body from ground during walking (m)
    float down_amp; // Peak amplitude below stanceHeight in sinusoidal trajectory (m)
    float up_amp; // Height the foot peaks at above the stanceHeight in sinusoidal trajectory (m)
    float flight_percent; // Portion of the gait time should be doing the down portion of trajectory
    float step_length; // Length of entire step (m)
    float freq; // Frequency of one gait cycle (Hz)
    float step_diff; //difference between left and right leg step length
};