Basic RT components and utilities  315.7.0
Public Attributes | List of all members
OpenHRP::AutoBalancerService::AutoBalancerParam Struct Reference

Parameters for AutoBalancer. More...

import "AutoBalancerService.idl";

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Public Attributes

sequence< DblSequence3, 2 > default_zmp_offsets
 ZMP offset vectors[m] for rleg and lleg (<-please set by this order)
double move_base_gain
ControllerMode controller_mode
boolean graspless_manip_mode
string graspless_manip_arm
DblArray3 graspless_manip_p_gain
DblArray3 graspless_manip_reference_trans_pos
DblArray4 graspless_manip_reference_trans_rot
double transition_time
 Transition time [s] for start and stop AutoBalancer.
double zmp_transition_time
 Transition time [s] for default_zmp_offsets.
double adjust_footstep_transition_time
 Transition time [s] for adjust foot step.
StrSequence leg_names

Detailed Description

Parameters for AutoBalancer.

Member Data Documentation

double OpenHRP::AutoBalancerService::AutoBalancerParam::adjust_footstep_transition_time

Transition time [s] for adjust foot step.

ControllerMode OpenHRP::AutoBalancerService::AutoBalancerParam::controller_mode
sequence<DblSequence3, 2> OpenHRP::AutoBalancerService::AutoBalancerParam::default_zmp_offsets

ZMP offset vectors[m] for rleg and lleg (<-please set by this order)

string OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_arm
boolean OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_mode
DblArray3 OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_p_gain
DblArray3 OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_reference_trans_pos
DblArray4 OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_reference_trans_rot
StrSequence OpenHRP::AutoBalancerService::AutoBalancerParam::leg_names
double OpenHRP::AutoBalancerService::AutoBalancerParam::move_base_gain
double OpenHRP::AutoBalancerService::AutoBalancerParam::transition_time

Transition time [s] for start and stop AutoBalancer.

double OpenHRP::AutoBalancerService::AutoBalancerParam::zmp_transition_time

Transition time [s] for default_zmp_offsets.


The documentation for this struct was generated from the following file: