Basic RT components and utilities
315.15.0
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Stabilizer Parameters. More...
import"StabilizerService.idl";
Public Attributes | |
DblArray2 | k_tpcc_p |
Feedback gain for ZMP tracking error (x,y) More... | |
DblArray2 | k_tpcc_x |
Feedback gain for COG position tracking error (x,y) More... | |
DblArray2 | k_brot_p |
Body posture control gain [rad/s] (roll, pitch). More... | |
DblArray2 | k_brot_tc |
Time constant for body posture control [s] (roll, pitch). More... | |
DblArray2 | eefm_k1 |
Feedback gain for COG position tracking error (x,y) More... | |
DblArray2 | eefm_k2 |
Feedback gain for COG velocity tracking error (x,y) More... | |
DblArray2 | eefm_k3 |
Feedback gain for ZMP tracking error (x,y) More... | |
DblArray2 | eefm_zmp_delay_time_const |
Time constant for stabilizer ZMP delay [s] (x,y) More... | |
DblArray2 | eefm_ref_zmp_aux |
Auxiliary input for ZMP position [m] (x,y). This is used for delay model identification. More... | |
sequence< sequence< double, 3 > > | eefm_rot_damping_gain |
Sequence of all end-effector rotation damping gain [Nm/(rad/s)] (r,p,y). More... | |
sequence< sequence< double, 3 > > | eefm_rot_time_const |
Sequence of all end-effector rotation damping time constant [s] (r,p,y). More... | |
sequence< sequence< double, 3 > > | eefm_pos_damping_gain |
Sequence of all end-effector position damping gain [N/(m/s)] (x,y,z). More... | |
sequence< sequence< double, 3 > > | eefm_pos_time_const_support |
Sequence of all end-effector position damping time constant for double support phase [s] (x,y,z). More... | |
sequence< sequence< double, 3 > > | eefm_swing_rot_spring_gain |
Sequence of all swing leg end-effector rotation spring gain (r,p,y). More... | |
sequence< sequence< double, 3 > > | eefm_swing_rot_time_const |
Sequence of all swing leg end-effector rotation spring time constant [s] (r,p,y). More... | |
sequence< sequence< double, 3 > > | eefm_swing_pos_spring_gain |
Sequence of all swing leg end-effector position spring gain (x,y,z). More... | |
sequence< sequence< double, 3 > > | eefm_swing_pos_time_const |
Sequence of all swing leg end-effector position spring time constant [s] (x,y,z). More... | |
sequence< sequence< double, 3 > > | eefm_ee_moment_limit |
Sequence of all end-effector end-effector-frame moment limit [Nm]. More... | |
sequence< double > | eefm_pos_compensation_limit |
Sequence of all end-effector position compensation limit [m]. More... | |
sequence< double > | eefm_rot_compensation_limit |
Sequence of all end-effector rot compensation limit [rad]. More... | |
double | eefm_pos_time_const_swing |
End-effector position damping time constant for single support phase [s]. More... | |
double | eefm_pos_transition_time |
Transition time for single=>double support phase gain interpolation [s]. More... | |
double | eefm_pos_margin_time |
Margin for transition time for single=>double support phase gain interpolation [s]. More... | |
double | eefm_leg_inside_margin |
Inside foot margine [m]. Distance between foot end effector position and foot inside edge. More... | |
double | eefm_leg_outside_margin |
Outside foot margine [m]. Distance between foot end effector position and foot outside edge. More... | |
double | eefm_leg_front_margin |
Front foot margine [m]. Distance between foot end effector position and foot front edge. More... | |
double | eefm_leg_rear_margin |
Rear foot margine [m]. Distance between foot end effector position and foot rear edge. More... | |
DblArray2 | eefm_body_attitude_control_gain |
Body attitude control gain [rad/s] (roll, pitch) for EEFM. More... | |
DblArray2 | eefm_body_attitude_control_time_const |
Time constant for body attitude control [s] (roll, pitch) for EEFM. More... | |
double | eefm_cogvel_cutoff_freq |
Cutoff frequency of LPF in calculation of COG velocity [Hz]. More... | |
double | eefm_wrench_alpha_blending |
Blending parameter [0, 1] for wrench distribution. More... | |
double | eefm_alpha_cutoff_freq |
Cutoff frequency of LPF in calculation of force moment distribution alpha ratio parameter [Hz]. More... | |
double | eefm_gravitational_acceleration |
Gravitational acceleration [m/s^2] used in ST calculation. More... | |
double | eefm_ee_pos_error_p_gain |
Pos error gain. More... | |
double | eefm_ee_rot_error_p_gain |
Rot error gain. More... | |
double | eefm_ee_error_cutoff_freq |
Pos rot error cutoff freq [Hz]. More... | |
sequence< SupportPolygonVertices > | eefm_support_polygon_vertices_sequence |
Sequence of vertices for all end effectors assuming that the order is (rleg, lleg, rarm, larm) More... | |
boolean | eefm_use_force_difference_control |
Use force difference control or each limb force control. True by default. More... | |
boolean | eefm_use_swing_damping |
Use damping control for swing leg. More... | |
DblArray3 | eefm_swing_damping_force_thre |
Swing damping control force threshold [N]. More... | |
DblArray3 | eefm_swing_damping_moment_thre |
Swing damping control moment threshold [Nm]. More... | |
DblArray3 | eefm_swing_rot_damping_gain |
Rotation damping gain for swing leg [Nm/(rad/s)] (r,p,y) More... | |
DblArray3 | eefm_swing_pos_damping_gain |
Position damping gain for swing leg [N/(m/s)] (x,y,z) More... | |
sequence< sequence< double, 6 > > | eefm_ee_forcemoment_distribution_weight |
Sequence of all end-effector force/moment distribution weight. More... | |
STAlgorithm | st_algorithm |
Current Stabilizer algorithm. More... | |
ControllerMode | controller_mode |
Current ControllerMode. More... | |
double | transition_time |
Transition time [s] for start and stop Stabilizer. More... | |
BoolSequence | is_ik_enable |
Bool sequence for all end effectors whether the end effector is used for limb IK. More... | |
BoolSequence | is_feedback_control_enable |
Bool sequence for all end effectors whether the end effector is used for feedback control (currently damping control). More... | |
BoolSequence | is_zmp_calc_enable |
Bool sequence for all end effectors whether the end effector is used for zmp calculation. More... | |
double | cop_check_margin |
COP margin [m] from edges for COP checking. More... | |
DblArray4 | cp_check_margin |
CP margin [m] (front, rear, inside, outside) More... | |
DblArray2 | tilt_margin |
tilt margin [rad] (single support phase, double support phase) from reference floor More... | |
DblArray2 | ref_capture_point |
ref_CP [m] (x,y) (foot_origin relative coordinate) More... | |
DblArray2 | act_capture_point |
act_CP [m] (x,y) (foot_origin relative coordinate) More... | |
DblArray2 | cp_offset |
CP_offset [m] (x,y) (foot_origin relative coordinate) More... | |
double | contact_decision_threshold |
contact decision threshold [N] More... | |
sequence< sequence< double, 3 > > | foot_origin_offset |
Foot origin position offset. More... | |
EmergencyCheckMode | emergency_check_mode |
Emergency signal checking mode. More... | |
sequence< AutoBalancerService::Footstep > | end_effector_list |
boolean | is_estop_while_walking |
whether an emergency stop is used while walking More... | |
sequence< IKLimbParameters > | ik_limb_parameters |
Sequence for all end-effectors' ik limb parameters. More... | |
boolean | use_limb_stretch_avoidance |
Whether change root link height for avoiding limb stretch. More... | |
double | limb_stretch_avoidance_time_const |
Limb stretch avoidance time constant [s]. More... | |
DblArray2 | limb_stretch_avoidance_vlimit |
Root link height change limitation for avoiding limb stretch [m/s] (lower, upper) More... | |
sequence< double > | limb_length_margin |
Sequence of limb length margin from max limb length [m]. More... | |
double | detection_time_to_air |
Detection time whether is in air [s]. More... | |
DblArray2 | root_rot_compensation_limit |
Limit of compensation for difference between ref-act root rot [rad]. More... | |
boolean | use_zmp_truncation |
Whether truncate zmp according to foot support polygon or not. More... | |
Stabilizer Parameters.
DblArray2 OpenHRP::StabilizerService::stParam::act_capture_point |
act_CP [m] (x,y) (foot_origin relative coordinate)
double OpenHRP::StabilizerService::stParam::contact_decision_threshold |
contact decision threshold [N]
ControllerMode OpenHRP::StabilizerService::stParam::controller_mode |
Current ControllerMode.
double OpenHRP::StabilizerService::stParam::cop_check_margin |
COP margin [m] from edges for COP checking.
DblArray4 OpenHRP::StabilizerService::stParam::cp_check_margin |
CP margin [m] (front, rear, inside, outside)
DblArray2 OpenHRP::StabilizerService::stParam::cp_offset |
CP_offset [m] (x,y) (foot_origin relative coordinate)
double OpenHRP::StabilizerService::stParam::detection_time_to_air |
Detection time whether is in air [s].
double OpenHRP::StabilizerService::stParam::eefm_alpha_cutoff_freq |
Cutoff frequency of LPF in calculation of force moment distribution alpha ratio parameter [Hz].
DblArray2 OpenHRP::StabilizerService::stParam::eefm_body_attitude_control_gain |
Body attitude control gain [rad/s] (roll, pitch) for EEFM.
DblArray2 OpenHRP::StabilizerService::stParam::eefm_body_attitude_control_time_const |
Time constant for body attitude control [s] (roll, pitch) for EEFM.
double OpenHRP::StabilizerService::stParam::eefm_cogvel_cutoff_freq |
Cutoff frequency of LPF in calculation of COG velocity [Hz].
double OpenHRP::StabilizerService::stParam::eefm_ee_error_cutoff_freq |
Pos rot error cutoff freq [Hz].
sequence<sequence<double, 6> > OpenHRP::StabilizerService::stParam::eefm_ee_forcemoment_distribution_weight |
Sequence of all end-effector force/moment distribution weight.
sequence<sequence<double, 3> > OpenHRP::StabilizerService::stParam::eefm_ee_moment_limit |
Sequence of all end-effector end-effector-frame moment limit [Nm].
double OpenHRP::StabilizerService::stParam::eefm_ee_pos_error_p_gain |
Pos error gain.
double OpenHRP::StabilizerService::stParam::eefm_ee_rot_error_p_gain |
Rot error gain.
double OpenHRP::StabilizerService::stParam::eefm_gravitational_acceleration |
Gravitational acceleration [m/s^2] used in ST calculation.
DblArray2 OpenHRP::StabilizerService::stParam::eefm_k1 |
Feedback gain for COG position tracking error (x,y)
DblArray2 OpenHRP::StabilizerService::stParam::eefm_k2 |
Feedback gain for COG velocity tracking error (x,y)
DblArray2 OpenHRP::StabilizerService::stParam::eefm_k3 |
Feedback gain for ZMP tracking error (x,y)
double OpenHRP::StabilizerService::stParam::eefm_leg_front_margin |
Front foot margine [m]. Distance between foot end effector position and foot front edge.
double OpenHRP::StabilizerService::stParam::eefm_leg_inside_margin |
Inside foot margine [m]. Distance between foot end effector position and foot inside edge.
double OpenHRP::StabilizerService::stParam::eefm_leg_outside_margin |
Outside foot margine [m]. Distance between foot end effector position and foot outside edge.
double OpenHRP::StabilizerService::stParam::eefm_leg_rear_margin |
Rear foot margine [m]. Distance between foot end effector position and foot rear edge.
sequence<double> OpenHRP::StabilizerService::stParam::eefm_pos_compensation_limit |
Sequence of all end-effector position compensation limit [m].
sequence<sequence<double, 3> > OpenHRP::StabilizerService::stParam::eefm_pos_damping_gain |
Sequence of all end-effector position damping gain [N/(m/s)] (x,y,z).
double OpenHRP::StabilizerService::stParam::eefm_pos_margin_time |
Margin for transition time for single=>double support phase gain interpolation [s].
sequence<sequence<double, 3> > OpenHRP::StabilizerService::stParam::eefm_pos_time_const_support |
Sequence of all end-effector position damping time constant for double support phase [s] (x,y,z).
double OpenHRP::StabilizerService::stParam::eefm_pos_time_const_swing |
End-effector position damping time constant for single support phase [s].
double OpenHRP::StabilizerService::stParam::eefm_pos_transition_time |
Transition time for single=>double support phase gain interpolation [s].
DblArray2 OpenHRP::StabilizerService::stParam::eefm_ref_zmp_aux |
Auxiliary input for ZMP position [m] (x,y). This is used for delay model identification.
sequence<double> OpenHRP::StabilizerService::stParam::eefm_rot_compensation_limit |
Sequence of all end-effector rot compensation limit [rad].
sequence<sequence<double, 3> > OpenHRP::StabilizerService::stParam::eefm_rot_damping_gain |
Sequence of all end-effector rotation damping gain [Nm/(rad/s)] (r,p,y).
sequence<sequence<double, 3> > OpenHRP::StabilizerService::stParam::eefm_rot_time_const |
Sequence of all end-effector rotation damping time constant [s] (r,p,y).
sequence< SupportPolygonVertices > OpenHRP::StabilizerService::stParam::eefm_support_polygon_vertices_sequence |
Sequence of vertices for all end effectors assuming that the order is (rleg, lleg, rarm, larm)
DblArray3 OpenHRP::StabilizerService::stParam::eefm_swing_damping_force_thre |
Swing damping control force threshold [N].
DblArray3 OpenHRP::StabilizerService::stParam::eefm_swing_damping_moment_thre |
Swing damping control moment threshold [Nm].
DblArray3 OpenHRP::StabilizerService::stParam::eefm_swing_pos_damping_gain |
Position damping gain for swing leg [N/(m/s)] (x,y,z)
sequence<sequence<double, 3> > OpenHRP::StabilizerService::stParam::eefm_swing_pos_spring_gain |
Sequence of all swing leg end-effector position spring gain (x,y,z).
sequence<sequence<double, 3> > OpenHRP::StabilizerService::stParam::eefm_swing_pos_time_const |
Sequence of all swing leg end-effector position spring time constant [s] (x,y,z).
DblArray3 OpenHRP::StabilizerService::stParam::eefm_swing_rot_damping_gain |
Rotation damping gain for swing leg [Nm/(rad/s)] (r,p,y)
sequence<sequence<double, 3> > OpenHRP::StabilizerService::stParam::eefm_swing_rot_spring_gain |
Sequence of all swing leg end-effector rotation spring gain (r,p,y).
sequence<sequence<double, 3> > OpenHRP::StabilizerService::stParam::eefm_swing_rot_time_const |
Sequence of all swing leg end-effector rotation spring time constant [s] (r,p,y).
boolean OpenHRP::StabilizerService::stParam::eefm_use_force_difference_control |
Use force difference control or each limb force control. True by default.
boolean OpenHRP::StabilizerService::stParam::eefm_use_swing_damping |
Use damping control for swing leg.
double OpenHRP::StabilizerService::stParam::eefm_wrench_alpha_blending |
Blending parameter [0, 1] for wrench distribution.
DblArray2 OpenHRP::StabilizerService::stParam::eefm_zmp_delay_time_const |
Time constant for stabilizer ZMP delay [s] (x,y)
EmergencyCheckMode OpenHRP::StabilizerService::stParam::emergency_check_mode |
Emergency signal checking mode.
sequence<AutoBalancerService::Footstep> OpenHRP::StabilizerService::stParam::end_effector_list |
sequence< sequence<double, 3> > OpenHRP::StabilizerService::stParam::foot_origin_offset |
Foot origin position offset.
sequence<IKLimbParameters> OpenHRP::StabilizerService::stParam::ik_limb_parameters |
Sequence for all end-effectors' ik limb parameters.
boolean OpenHRP::StabilizerService::stParam::is_estop_while_walking |
whether an emergency stop is used while walking
BoolSequence OpenHRP::StabilizerService::stParam::is_feedback_control_enable |
Bool sequence for all end effectors whether the end effector is used for feedback control (currently damping control).
BoolSequence OpenHRP::StabilizerService::stParam::is_ik_enable |
Bool sequence for all end effectors whether the end effector is used for limb IK.
BoolSequence OpenHRP::StabilizerService::stParam::is_zmp_calc_enable |
Bool sequence for all end effectors whether the end effector is used for zmp calculation.
DblArray2 OpenHRP::StabilizerService::stParam::k_brot_p |
Body posture control gain [rad/s] (roll, pitch).
DblArray2 OpenHRP::StabilizerService::stParam::k_brot_tc |
Time constant for body posture control [s] (roll, pitch).
DblArray2 OpenHRP::StabilizerService::stParam::k_tpcc_p |
Feedback gain for ZMP tracking error (x,y)
DblArray2 OpenHRP::StabilizerService::stParam::k_tpcc_x |
Feedback gain for COG position tracking error (x,y)
sequence<double> OpenHRP::StabilizerService::stParam::limb_length_margin |
Sequence of limb length margin from max limb length [m].
double OpenHRP::StabilizerService::stParam::limb_stretch_avoidance_time_const |
Limb stretch avoidance time constant [s].
DblArray2 OpenHRP::StabilizerService::stParam::limb_stretch_avoidance_vlimit |
Root link height change limitation for avoiding limb stretch [m/s] (lower, upper)
DblArray2 OpenHRP::StabilizerService::stParam::ref_capture_point |
ref_CP [m] (x,y) (foot_origin relative coordinate)
DblArray2 OpenHRP::StabilizerService::stParam::root_rot_compensation_limit |
Limit of compensation for difference between ref-act root rot [rad].
STAlgorithm OpenHRP::StabilizerService::stParam::st_algorithm |
Current Stabilizer algorithm.
DblArray2 OpenHRP::StabilizerService::stParam::tilt_margin |
tilt margin [rad] (single support phase, double support phase) from reference floor
double OpenHRP::StabilizerService::stParam::transition_time |
Transition time [s] for start and stop Stabilizer.
boolean OpenHRP::StabilizerService::stParam::use_limb_stretch_avoidance |
Whether change root link height for avoiding limb stretch.
boolean OpenHRP::StabilizerService::stParam::use_zmp_truncation |
Whether truncate zmp according to foot support polygon or not.