Basic RT components and utilities
315.7.0
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Stabilizer Parameters. More...
import "StabilizerService.idl";
Public Attributes | |
DblArray2 | k_tpcc_p |
Feedback gain for ZMP tracking error (x,y) More... | |
DblArray2 | k_tpcc_x |
Feedback gain for COG position tracking error (x,y) More... | |
DblArray2 | k_brot_p |
Body posture control gain [rad/s] (roll, pitch). More... | |
DblArray2 | k_brot_tc |
Time constant for body posture control [s] (roll, pitch). More... | |
DblArray2 | k_run_b |
DblArray2 | d_run_b |
DblArray2 | tdfke |
DblArray2 | tdftc |
double | k_run_x |
double | k_run_y |
double | d_run_x |
double | d_run_y |
DblArray2 | eefm_k1 |
Feedback gain for COG position tracking error (x,y) More... | |
DblArray2 | eefm_k2 |
Feedback gain for COG velocity tracking error (x,y) More... | |
DblArray2 | eefm_k3 |
Feedback gain for ZMP tracking error (x,y) More... | |
DblArray2 | eefm_zmp_delay_time_const |
Time constant for stabilizer ZMP delay [s] (x,y) More... | |
DblArray2 | eefm_ref_zmp_aux |
Auxiliary input for ZMP position [m] (x,y). This is used for delay model identification. More... | |
double | eefm_rot_damping_gain |
Foot rotation damping gain [Nm/(rad/s)]. More... | |
double | eefm_rot_time_const |
Foot rotation damping time constant [s]. More... | |
DblArray3 | eefm_pos_damping_gain |
Foot position damping gain [N/(m/s)]. More... | |
DblArray3 | eefm_pos_time_const_support |
Foot position damping time constant for double support phase [s]. More... | |
double | eefm_pos_time_const_swing |
Foot position damping time constant for single support phase [s]. More... | |
double | eefm_pos_transition_time |
Transition time for single=>double support phase gain interpolation [s]. More... | |
double | eefm_pos_margin_time |
Margin for transition time for single=>double support phase gain interpolation [s]. More... | |
double | eefm_leg_inside_margin |
Inside foot margine [m]. Distance between foot end effector position and foot inside edge. More... | |
double | eefm_leg_outside_margin |
Outside foot margine [m]. Distance between foot end effector position and foot outside edge. More... | |
double | eefm_leg_front_margin |
Front foot margine [m]. Distance between foot end effector position and foot front edge. More... | |
double | eefm_leg_rear_margin |
Rear foot margine [m]. Distance between foot end effector position and foot rear edge. More... | |
DblArray2 | eefm_body_attitude_control_gain |
Body attitude control gain [rad/s] (roll, pitch) for EEFM. More... | |
DblArray2 | eefm_body_attitude_control_time_const |
Time constant for body attitude control [s] (roll, pitch) for EEFM. More... | |
double | eefm_cogvel_cutoff_freq |
Cutoff frequency of LPF in calculation of COG velocity [Hz]. More... | |
double | eefm_wrench_alpha_blending |
Blending parameter [0, 1] for wrench distribution. More... | |
double | eefm_alpha_cutoff_freq |
Cutoff frequency of LPF in calculation of force moment distribution alpha ratio parameter [Hz]. More... | |
double | eefm_gravitational_acceleration |
Gravitational acceleration [m/s^2] used in ST calculation. More... | |
double | eefm_ee_pos_error_p_gain |
Pos error gain. More... | |
double | eefm_ee_rot_error_p_gain |
Rot error gain. More... | |
double | eefm_ee_error_cutoff_freq |
Pos rot error cutoff freq [Hz]. More... | |
BoolSequence | is_ik_enable |
Is ik enable. More... | |
STAlgorithm | st_algorithm |
Current Stabilizer algorithm. More... | |
ControllerMode | controller_mode |
Current ControllerMode. More... | |
double | transition_time |
Transition time [s] for start and stop Stabilizer. More... | |
double | cop_check_margin |
COP margin [m] from edges for COP checking. More... | |
double | cp_check_margin |
CP margin [m]. More... | |
double | contact_decision_threshold |
contact decision threshold [N] More... | |
sequence< sequence< double, 3 > > | foot_origin_offset |
Foot origin position offset. More... | |
EmergencyCheckMode | emergency_check_mode |
Emergency signal checking mode. More... | |
Stabilizer Parameters.
double OpenHRP::StabilizerService::stParam::contact_decision_threshold |
contact decision threshold [N]
ControllerMode OpenHRP::StabilizerService::stParam::controller_mode |
Current ControllerMode.
double OpenHRP::StabilizerService::stParam::cop_check_margin |
COP margin [m] from edges for COP checking.
double OpenHRP::StabilizerService::stParam::cp_check_margin |
CP margin [m].
DblArray2 OpenHRP::StabilizerService::stParam::d_run_b |
double OpenHRP::StabilizerService::stParam::d_run_x |
double OpenHRP::StabilizerService::stParam::d_run_y |
double OpenHRP::StabilizerService::stParam::eefm_alpha_cutoff_freq |
Cutoff frequency of LPF in calculation of force moment distribution alpha ratio parameter [Hz].
DblArray2 OpenHRP::StabilizerService::stParam::eefm_body_attitude_control_gain |
Body attitude control gain [rad/s] (roll, pitch) for EEFM.
DblArray2 OpenHRP::StabilizerService::stParam::eefm_body_attitude_control_time_const |
Time constant for body attitude control [s] (roll, pitch) for EEFM.
double OpenHRP::StabilizerService::stParam::eefm_cogvel_cutoff_freq |
Cutoff frequency of LPF in calculation of COG velocity [Hz].
double OpenHRP::StabilizerService::stParam::eefm_ee_error_cutoff_freq |
Pos rot error cutoff freq [Hz].
double OpenHRP::StabilizerService::stParam::eefm_ee_pos_error_p_gain |
Pos error gain.
double OpenHRP::StabilizerService::stParam::eefm_ee_rot_error_p_gain |
Rot error gain.
double OpenHRP::StabilizerService::stParam::eefm_gravitational_acceleration |
Gravitational acceleration [m/s^2] used in ST calculation.
DblArray2 OpenHRP::StabilizerService::stParam::eefm_k1 |
Feedback gain for COG position tracking error (x,y)
DblArray2 OpenHRP::StabilizerService::stParam::eefm_k2 |
Feedback gain for COG velocity tracking error (x,y)
DblArray2 OpenHRP::StabilizerService::stParam::eefm_k3 |
Feedback gain for ZMP tracking error (x,y)
double OpenHRP::StabilizerService::stParam::eefm_leg_front_margin |
Front foot margine [m]. Distance between foot end effector position and foot front edge.
double OpenHRP::StabilizerService::stParam::eefm_leg_inside_margin |
Inside foot margine [m]. Distance between foot end effector position and foot inside edge.
double OpenHRP::StabilizerService::stParam::eefm_leg_outside_margin |
Outside foot margine [m]. Distance between foot end effector position and foot outside edge.
double OpenHRP::StabilizerService::stParam::eefm_leg_rear_margin |
Rear foot margine [m]. Distance between foot end effector position and foot rear edge.
DblArray3 OpenHRP::StabilizerService::stParam::eefm_pos_damping_gain |
Foot position damping gain [N/(m/s)].
double OpenHRP::StabilizerService::stParam::eefm_pos_margin_time |
Margin for transition time for single=>double support phase gain interpolation [s].
DblArray3 OpenHRP::StabilizerService::stParam::eefm_pos_time_const_support |
Foot position damping time constant for double support phase [s].
double OpenHRP::StabilizerService::stParam::eefm_pos_time_const_swing |
Foot position damping time constant for single support phase [s].
double OpenHRP::StabilizerService::stParam::eefm_pos_transition_time |
Transition time for single=>double support phase gain interpolation [s].
DblArray2 OpenHRP::StabilizerService::stParam::eefm_ref_zmp_aux |
Auxiliary input for ZMP position [m] (x,y). This is used for delay model identification.
double OpenHRP::StabilizerService::stParam::eefm_rot_damping_gain |
Foot rotation damping gain [Nm/(rad/s)].
double OpenHRP::StabilizerService::stParam::eefm_rot_time_const |
Foot rotation damping time constant [s].
double OpenHRP::StabilizerService::stParam::eefm_wrench_alpha_blending |
Blending parameter [0, 1] for wrench distribution.
DblArray2 OpenHRP::StabilizerService::stParam::eefm_zmp_delay_time_const |
Time constant for stabilizer ZMP delay [s] (x,y)
EmergencyCheckMode OpenHRP::StabilizerService::stParam::emergency_check_mode |
Emergency signal checking mode.
sequence< sequence<double, 3> > OpenHRP::StabilizerService::stParam::foot_origin_offset |
Foot origin position offset.
BoolSequence OpenHRP::StabilizerService::stParam::is_ik_enable |
Is ik enable.
DblArray2 OpenHRP::StabilizerService::stParam::k_brot_p |
Body posture control gain [rad/s] (roll, pitch).
DblArray2 OpenHRP::StabilizerService::stParam::k_brot_tc |
Time constant for body posture control [s] (roll, pitch).
DblArray2 OpenHRP::StabilizerService::stParam::k_run_b |
double OpenHRP::StabilizerService::stParam::k_run_x |
double OpenHRP::StabilizerService::stParam::k_run_y |
DblArray2 OpenHRP::StabilizerService::stParam::k_tpcc_p |
Feedback gain for ZMP tracking error (x,y)
DblArray2 OpenHRP::StabilizerService::stParam::k_tpcc_x |
Feedback gain for COG position tracking error (x,y)
STAlgorithm OpenHRP::StabilizerService::stParam::st_algorithm |
Current Stabilizer algorithm.
DblArray2 OpenHRP::StabilizerService::stParam::tdfke |
DblArray2 OpenHRP::StabilizerService::stParam::tdftc |
double OpenHRP::StabilizerService::stParam::transition_time |
Transition time [s] for start and stop Stabilizer.