Basic RT components and utilities
315.7.0
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Parameters for GaitGenerator. More...
import "AutoBalancerService.idl";
Public Attributes | |
double | default_step_time |
Step time [s]. | |
double | default_step_height |
Step height [m]. | |
double | default_double_support_ratio |
Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time. | |
double | default_double_support_static_ratio |
Ratio of double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio >= default_double_support_static_ratio.. | |
sequence< double, 4 > | stride_parameter |
Stride limitation of forward x[m], y[m], theta[deg], and backward x[m] for goPos. | |
OrbitType | default_orbit_type |
Default OrbitType. | |
double | swing_trajectory_delay_time_offset |
Time offset [s] for swing trajectory by delay_hoffarbib_trajectory_generator. | |
double | swing_trajectory_final_distance_weight |
Weight parameter for distance of final path of delay_hoffarbib_trajectory_generator (1.0 by default). | |
DblArray3 | stair_trajectory_way_point_offset |
Way point offset 3D vector [m] for stair_delay_hoffarbib_trajectory_generator. | |
DblArray3 | cycloid_delay_kick_point_offset |
Kick point offset 3D vector [m] for cycloid_delay_kick_hoffarbib_trajectory_generator. | |
double | gravitational_acceleration |
Gravitational acceleration [m/s^2]. | |
double | toe_pos_offset_x |
Toe position offset [m] in end-effector frame x axis. | |
double | heel_pos_offset_x |
Heel position offset [m] in end-effector frame x axis. | |
double | toe_zmp_offset_x |
Toe ZMP offset [m] in end-effector frame x axis. | |
double | heel_zmp_offset_x |
Heel ZMP offset [m] in end-effector frame x axis. | |
double | toe_angle |
Maximum toe angle [deg] for toe-off motion. | |
double | heel_angle |
Maximum heel angle [deg] for heel-contact motion. | |
sequence< double > | toe_heel_phase_ratio |
Sequence of phase ratio of toe-off and heel-contact. Sum of toe_heel_phase_ratio should be 1.0. | |
boolean | use_toe_joint |
Use toe joint or not in toe-off heel-contact motion. | |
boolean | use_toe_heel_transition |
Use toe heel zmp transition. If true, zmp moves among default position, toe position (described by toe_zmp_offset_x), and heel position (described by heel_zmp_offset_x). | |
sequence< DblSequence3 > | leg_default_translate_pos |
Foot position offset[m] (rleg and lleg) | |
long | optional_go_pos_finalize_footstep_num |
Number of optional finalize footsteps in goPos. |
Parameters for GaitGenerator.
Kick point offset 3D vector [m] for cycloid_delay_kick_hoffarbib_trajectory_generator.
Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time.
Ratio of double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio >= default_double_support_static_ratio..
Default OrbitType.
Step height [m].
Step time [s].
Gravitational acceleration [m/s^2].
Maximum heel angle [deg] for heel-contact motion.
Heel position offset [m] in end-effector frame x axis.
Heel ZMP offset [m] in end-effector frame x axis.
Foot position offset[m] (rleg and lleg)
Number of optional finalize footsteps in goPos.
Way point offset 3D vector [m] for stair_delay_hoffarbib_trajectory_generator.
sequence<double, 4> OpenHRP::AutoBalancerService::GaitGeneratorParam::stride_parameter |
Stride limitation of forward x[m], y[m], theta[deg], and backward x[m] for goPos.
Time offset [s] for swing trajectory by delay_hoffarbib_trajectory_generator.
Weight parameter for distance of final path of delay_hoffarbib_trajectory_generator (1.0 by default).
Maximum toe angle [deg] for toe-off motion.
Sequence of phase ratio of toe-off and heel-contact. Sum of toe_heel_phase_ratio should be 1.0.
Toe position offset [m] in end-effector frame x axis.
Toe ZMP offset [m] in end-effector frame x axis.
Use toe heel zmp transition. If true, zmp moves among default position, toe position (described by toe_zmp_offset_x), and heel position (described by heel_zmp_offset_x).
Use toe joint or not in toe-off heel-contact motion.