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

ReferenceForceUpdater Parameters. More...

import"ReferenceForceUpdaterService.idl";

Collaboration diagram for OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam:
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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...
 
boolean is_hold_value
 Hold current value or not. If is_hold_value is true, do not update value, otherwise, update value. More...
 
double transition_time
 Transition time[s]. More...
 

Detailed Description

ReferenceForceUpdater Parameters.

Member Data Documentation

◆ d_gain

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::d_gain

D gain.

◆ frame

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.

◆ i_gain

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::i_gain

I gain.

◆ is_hold_value

boolean OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::is_hold_value

Hold current value or not. If is_hold_value is true, do not update value, otherwise, update value.

◆ motion_dir

DblSequence3 OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::motion_dir

Motion direction to update reference force.

◆ p_gain

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::p_gain

P gain.

◆ transition_time

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::transition_time

Transition time[s].

◆ update_freq

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_freq

Update frequency [Hz].

◆ update_time_ratio

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_time_ratio

Update time ratio [0,1].


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