Basic RT components and utilities  315.15.0
Public Attributes | List of all members
OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam Struct Reference

ObjectContactTurnaroundDetectorParam parameters. More...

import"ObjectContactTurnaroundDetectorService.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 contact turnaround detection (Wait detect_time_thre [s] after first object contact 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...
 

Detailed Description

ObjectContactTurnaroundDetectorParam parameters.

Member Data Documentation

◆ axis

DblArray3 OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::axis

Axis.

◆ detect_ratio_thre

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::detect_ratio_thre

Threshould for detection (0,1)

◆ detect_time_thre

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::detect_time_thre

Threshould for time [s] after the first object contact turnaround detection (Wait detect_time_thre [s] after first object contact turnaround detection).

◆ detector_total_wrench

DetectorTotalWrench OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::detector_total_wrench

Current flag for whether total force or total moment is checked.

◆ dwrench_cutoff_freq

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::dwrench_cutoff_freq

Cutoff frequence for dwrench value [Hz].

◆ moment_center

DblArray3 OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::moment_center

Moment center [m] from foot mid frame (middle frame of rleg and lleg)

◆ start_ratio_thre

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::start_ratio_thre

Threshould for starting detection (0,1)

◆ start_time_thre

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::start_time_thre

Threshould for time [s] after the first starting detection (Wait start_time_thre [s] after first start detection).

◆ wrench_cutoff_freq

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::wrench_cutoff_freq

Cutoff frequence for wrench value [Hz].


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