Basic RT components and utilities  315.10.1
Public Attributes | List of all members
OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam Struct Reference

ReferenceForceUpdater Parameters. More...

import "ReferenceForceUpdaterService.idl";

Collaboration diagram for OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam:
Collaboration graph
[legend]

Public Attributes

DblSequence3 motion_dir
 Motion direction to update reference force. More...
 
string frame
 frame of motion_dir ("local" or "world"). More...
 
double update_freq
 Update frequency [Hz]. More...
 
double update_time_ratio
 Update time ratio [0,1]. More...
 
double p_gain
 P gain. More...
 
double d_gain
 D gain. More...
 
double i_gain
 I gain. More...
 

Detailed Description

ReferenceForceUpdater Parameters.

Member Data Documentation

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::d_gain

D gain.

string OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::frame

frame of motion_dir ("local" or "world").

"local" is coordinate at end effector, and "world" is the coordinate between the feet.

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::i_gain

I gain.

DblSequence3 OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::motion_dir

Motion direction to update reference force.

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::p_gain

P gain.

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_freq

Update frequency [Hz].

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_time_ratio

Update time ratio [0,1].


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