Basic RT components and utilities
315.15.0
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ReferenceForceUpdater Parameters. More...
import"ReferenceForceUpdaterService.idl";
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... | |
ReferenceForceUpdater Parameters.
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.
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.
DblSequence3 OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::motion_dir |
Motion direction to update reference force.
double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::p_gain |
P gain.
double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::transition_time |
Transition time[s].
double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_freq |
Update frequency [Hz].
double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_time_ratio |
Update time ratio [0,1].