Basic RT components and utilities
315.15.0
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Parameters for GaitGenerator. More...
import"AutoBalancerService.idl";
Public Attributes | |
double | default_step_time |
Step time [s]. More... | |
double | default_step_height |
Step height [m]. More... | |
double | default_double_support_ratio |
Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time. More... | |
double | default_double_support_ratio_before |
Ratio of first double support period. Ratio is included in (0, 1). First double support period time is default_double_support_ratio_before*default_step_time. More... | |
double | default_double_support_ratio_after |
Ratio of last double support period. Ratio is included in (0, 1). Last double support period time is default_double_support_ratio_after*default_step_time. More... | |
double | default_double_support_static_ratio |
Ratio of double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio >= default_double_support_static_ratio.. More... | |
double | default_double_support_static_ratio_before |
Ratio of first double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio_before >= default_double_support_static_ratio_before.. More... | |
double | default_double_support_static_ratio_after |
Ratio of last double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio_after >= default_double_support_static_ratio_after.. More... | |
double | default_double_support_ratio_swing_before |
Ratio of double support period before swing. Ratio is included in (0, 1). More... | |
double | default_double_support_ratio_swing_after |
Ratio of double support period after swing. Ratio is included in (0, 1). More... | |
sequence< double, 6 > | stride_parameter |
Stride limitation of forward x[m], outside y[m], outside theta[deg], backward x[m], inside y[m], inside theta[deg] for goPos and goVelocity. More... | |
DblArray5 | stride_limitation_for_circle_type |
Stride limitation when generating footsteps with stride limitation type CIRCLE (forward, outside, theta, backward, inside) [m]. More... | |
OrbitType | default_orbit_type |
Default OrbitType. More... | |
double | swing_trajectory_delay_time_offset |
Time offset [s] for swing trajectory by delay_hoffarbib_trajectory_generator. More... | |
double | swing_trajectory_final_distance_weight |
Weight parameter for distance of final path of delay_hoffarbib_trajectory_generator (1.0 by default). More... | |
DblArray3 | stair_trajectory_way_point_offset |
Way point offset 3D vector [m] for stair_delay_hoffarbib_trajectory_generator. More... | |
DblArray3 | cycloid_delay_kick_point_offset |
Kick point offset 3D vector [m] for cycloid_delay_kick_hoffarbib_trajectory_generator. More... | |
double | swing_trajectory_time_offset_xy2z |
Time offset between Z convergence to antecedent path and XY convergence. [swing time]=[Z convergence time]=[XY convergence time]-[swing_trajectory_xy_time_offset]. 0 by default, this means Z convergence time and XY convergence time are same. More... | |
double | gravitational_acceleration |
Gravitational acceleration [m/s^2]. More... | |
double | toe_pos_offset_x |
Toe position offset [m] in end-effector frame x axis. More... | |
double | heel_pos_offset_x |
Heel position offset [m] in end-effector frame x axis. More... | |
double | toe_zmp_offset_x |
Toe ZMP offset [m] in end-effector frame x axis. More... | |
double | heel_zmp_offset_x |
Heel ZMP offset [m] in end-effector frame x axis. More... | |
double | toe_angle |
Maximum toe angle [deg] for toe-off motion. More... | |
double | heel_angle |
Maximum heel angle [deg] for heel-contact motion. More... | |
double | toe_check_thre |
Threshould [m] (>=0) whether toe is used or not. This is used only if use_toe_heel_auto_set == true. More... | |
double | heel_check_thre |
Threshould [m] (>=0) whether heel is used or not. This is used only if use_toe_heel_auto_set == true. More... | |
sequence< double > | toe_heel_phase_ratio |
Sequence of phase ratio of toe-off and heel-contact. Sum of toe_heel_phase_ratio should be 1.0. More... | |
boolean | use_toe_joint |
Use toe joint or not in toe-off heel-contact motion. More... | |
boolean | use_toe_heel_transition |
Use toe heel zmp transition. If true, zmp moves among default position, toe position (described by toe_zmp_offset_x), and heel position (described by heel_zmp_offset_x). More... | |
boolean | use_toe_heel_auto_set |
Use toe heel auto setting. If true, gait generator autonomously determine whether toe and heel are used. More... | |
sequence< double, 4 > | zmp_weight_map |
ZMP weight of RLEG, LLEG, RARM and LARM. More... | |
sequence< DblSequence3 > | leg_default_translate_pos |
Foot position offset[m] (rleg and lleg) More... | |
long | optional_go_pos_finalize_footstep_num |
Number of optional finalize footsteps in goPos. More... | |
long | overwritable_footstep_index_offset |
Offset for overwritable footstep index. Offset from current footstep index. Used in emergency_stop and velocity_mode. More... | |
DblArray5 | overwritable_stride_limitation |
Stride limitation when overwriting footsteps (forward, outside, theta, backward, inside) [m]. More... | |
boolean | use_stride_limitation |
Use stride limitation or not. More... | |
StrideLimitationType | stride_limitation_type |
Stride limitation type. More... | |
DblArray4 | leg_margin |
Leg margin between foot end effector position and foot edge (front, rear, outside, inside) [m]. More... | |
double | footstep_modification_gain |
Feedback gain when modifying footsteps based on Capture Point. More... | |
boolean | modify_footsteps |
Whether modify footsteps based on Capture Point. More... | |
DblArray2 | cp_check_margin |
CP check margin when modifying footsteps (x, y) [m]. More... | |
double | margin_time_ratio |
Margin time ratio for footstep modification before landing [s]. More... | |
Parameters for GaitGenerator.
DblArray2 OpenHRP::AutoBalancerService::GaitGeneratorParam::cp_check_margin |
CP check margin when modifying footsteps (x, y) [m].
DblArray3 OpenHRP::AutoBalancerService::GaitGeneratorParam::cycloid_delay_kick_point_offset |
Kick point offset 3D vector [m] for cycloid_delay_kick_hoffarbib_trajectory_generator.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_double_support_ratio |
Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_double_support_ratio_after |
Ratio of last double support period. Ratio is included in (0, 1). Last double support period time is default_double_support_ratio_after*default_step_time.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_double_support_ratio_before |
Ratio of first double support period. Ratio is included in (0, 1). First double support period time is default_double_support_ratio_before*default_step_time.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_double_support_ratio_swing_after |
Ratio of double support period after swing. Ratio is included in (0, 1).
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_double_support_ratio_swing_before |
Ratio of double support period before swing. Ratio is included in (0, 1).
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_double_support_static_ratio |
Ratio of double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio >= default_double_support_static_ratio..
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_double_support_static_ratio_after |
Ratio of last double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio_after >= default_double_support_static_ratio_after..
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_double_support_static_ratio_before |
Ratio of first double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio_before >= default_double_support_static_ratio_before..
OrbitType OpenHRP::AutoBalancerService::GaitGeneratorParam::default_orbit_type |
Default OrbitType.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_step_height |
Step height [m].
double OpenHRP::AutoBalancerService::GaitGeneratorParam::default_step_time |
Step time [s].
double OpenHRP::AutoBalancerService::GaitGeneratorParam::footstep_modification_gain |
Feedback gain when modifying footsteps based on Capture Point.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::gravitational_acceleration |
Gravitational acceleration [m/s^2].
double OpenHRP::AutoBalancerService::GaitGeneratorParam::heel_angle |
Maximum heel angle [deg] for heel-contact motion.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::heel_check_thre |
Threshould [m] (>=0) whether heel is used or not. This is used only if use_toe_heel_auto_set == true.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::heel_pos_offset_x |
Heel position offset [m] in end-effector frame x axis.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::heel_zmp_offset_x |
Heel ZMP offset [m] in end-effector frame x axis.
sequence<DblSequence3> OpenHRP::AutoBalancerService::GaitGeneratorParam::leg_default_translate_pos |
Foot position offset[m] (rleg and lleg)
DblArray4 OpenHRP::AutoBalancerService::GaitGeneratorParam::leg_margin |
Leg margin between foot end effector position and foot edge (front, rear, outside, inside) [m].
double OpenHRP::AutoBalancerService::GaitGeneratorParam::margin_time_ratio |
Margin time ratio for footstep modification before landing [s].
boolean OpenHRP::AutoBalancerService::GaitGeneratorParam::modify_footsteps |
Whether modify footsteps based on Capture Point.
long OpenHRP::AutoBalancerService::GaitGeneratorParam::optional_go_pos_finalize_footstep_num |
Number of optional finalize footsteps in goPos.
long OpenHRP::AutoBalancerService::GaitGeneratorParam::overwritable_footstep_index_offset |
Offset for overwritable footstep index. Offset from current footstep index. Used in emergency_stop and velocity_mode.
DblArray5 OpenHRP::AutoBalancerService::GaitGeneratorParam::overwritable_stride_limitation |
Stride limitation when overwriting footsteps (forward, outside, theta, backward, inside) [m].
DblArray3 OpenHRP::AutoBalancerService::GaitGeneratorParam::stair_trajectory_way_point_offset |
Way point offset 3D vector [m] for stair_delay_hoffarbib_trajectory_generator.
DblArray5 OpenHRP::AutoBalancerService::GaitGeneratorParam::stride_limitation_for_circle_type |
Stride limitation when generating footsteps with stride limitation type CIRCLE (forward, outside, theta, backward, inside) [m].
StrideLimitationType OpenHRP::AutoBalancerService::GaitGeneratorParam::stride_limitation_type |
Stride limitation type.
sequence<double, 6> OpenHRP::AutoBalancerService::GaitGeneratorParam::stride_parameter |
Stride limitation of forward x[m], outside y[m], outside theta[deg], backward x[m], inside y[m], inside theta[deg] for goPos and goVelocity.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::swing_trajectory_delay_time_offset |
Time offset [s] for swing trajectory by delay_hoffarbib_trajectory_generator.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::swing_trajectory_final_distance_weight |
Weight parameter for distance of final path of delay_hoffarbib_trajectory_generator (1.0 by default).
double OpenHRP::AutoBalancerService::GaitGeneratorParam::swing_trajectory_time_offset_xy2z |
Time offset between Z convergence to antecedent path and XY convergence. [swing time]=[Z convergence time]=[XY convergence time]-[swing_trajectory_xy_time_offset]. 0 by default, this means Z convergence time and XY convergence time are same.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::toe_angle |
Maximum toe angle [deg] for toe-off motion.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::toe_check_thre |
Threshould [m] (>=0) whether toe is used or not. This is used only if use_toe_heel_auto_set == true.
sequence<double> OpenHRP::AutoBalancerService::GaitGeneratorParam::toe_heel_phase_ratio |
Sequence of phase ratio of toe-off and heel-contact. Sum of toe_heel_phase_ratio should be 1.0.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::toe_pos_offset_x |
Toe position offset [m] in end-effector frame x axis.
double OpenHRP::AutoBalancerService::GaitGeneratorParam::toe_zmp_offset_x |
Toe ZMP offset [m] in end-effector frame x axis.
boolean OpenHRP::AutoBalancerService::GaitGeneratorParam::use_stride_limitation |
Use stride limitation or not.
boolean OpenHRP::AutoBalancerService::GaitGeneratorParam::use_toe_heel_auto_set |
Use toe heel auto setting. If true, gait generator autonomously determine whether toe and heel are used.
boolean OpenHRP::AutoBalancerService::GaitGeneratorParam::use_toe_heel_transition |
Use toe heel zmp transition. If true, zmp moves among default position, toe position (described by toe_zmp_offset_x), and heel position (described by heel_zmp_offset_x).
boolean OpenHRP::AutoBalancerService::GaitGeneratorParam::use_toe_joint |
Use toe joint or not in toe-off heel-contact motion.
sequence<double, 4> OpenHRP::AutoBalancerService::GaitGeneratorParam::zmp_weight_map |
ZMP weight of RLEG, LLEG, RARM and LARM.