Basic RT components and utilities
315.10.1
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ObjectTurnaroundDetectorParam parameters. More...
import "ImpedanceControllerService.idl";
Public Attributes | |
double | wrench_cutoff_freq |
Cutoff frequence for wrench value [Hz]. More... | |
double | dwrench_cutoff_freq |
Cutoff frequence for dwrench value [Hz]. More... | |
double | detect_ratio_thre |
Threshould for detection (0,1) More... | |
double | start_ratio_thre |
Threshould for starting detection (0,1) More... | |
double | detect_time_thre |
Threshould for time [s] after the first object turnaround detection (Wait detect_time_thre [s] after first object turnaround detection). More... | |
double | start_time_thre |
Threshould for time [s] after the first starting detection (Wait start_time_thre [s] after first start detection). More... | |
DblArray3 | axis |
Axis. More... | |
DblArray3 | moment_center |
Moment center [m] from foot mid frame (middle frame of rleg and lleg) More... | |
DetectorTotalWrench | detector_total_wrench |
Current flag for whether total force or total moment is checked. More... | |
ObjectTurnaroundDetectorParam parameters.
DblArray3 OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::axis |
Axis.
double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::detect_ratio_thre |
Threshould for detection (0,1)
double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::detect_time_thre |
Threshould for time [s] after the first object turnaround detection (Wait detect_time_thre [s] after first object turnaround detection).
DetectorTotalWrench OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::detector_total_wrench |
Current flag for whether total force or total moment is checked.
double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::dwrench_cutoff_freq |
Cutoff frequence for dwrench value [Hz].
DblArray3 OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::moment_center |
Moment center [m] from foot mid frame (middle frame of rleg and lleg)
double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::start_ratio_thre |
Threshould for starting detection (0,1)
double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::start_time_thre |
Threshould for time [s] after the first starting detection (Wait start_time_thre [s] after first start detection).
double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::wrench_cutoff_freq |
Cutoff frequence for wrench value [Hz].