sot_talos_balance.test.appli_dcmCoupledAndSingleAnkleControl Namespace Reference

Variables
	ajs
	base_estimator
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	comTrajGen
	contactLF
	contactRF
	controller = CoupledAdmittanceController("pitchController")
	CTRL_MAX
	data_type
	dcm_control
	dcm_controller = DcmController("dcmCtrl")
	device_filters
	distribute = create_simple_distribute_wrench()
list	dqLimSat = [0.3]
	dt = robot.timeStep
	dvdt
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	feature
	ftc
float	g = 9.81
float	gamma_dcm = 0.2
	h = robot.dynamic.com.value[2]
	imu_filters
list	kDiffPitch = [1e-6]
list	kDiffRoll = [0.0]
	keepWaist
list	Ki_dcm = [0.0, 0.0, 0.0]
list	Kp_dcm = [5.0, 5.0, 5.0]
list	KpPitch = [1e-3]
list	KpRoll = [1e-3]
float	kSat = 10.0
list	kSumPitch = [1e-3]
list	kSumRoll = [0.0]
	leftPitchAnkleController
int	LeftPitchJoint = 4
	leftRollAnkleController
int	LeftRollJoint = 5
	lfToMatrix
	lfTrajGen
	mass = robot.dynamic.data.mass[0]
	multLP
	multLR
	multRP
	multRR
	omega = sqrt(g / h)
	param_server
	phaseScalar
	phaseSwitch
	phaseTrajGen
	pitchController
	publisher
	q = list(robot.dynamic.position.value)
list	qLimSat = [pi / 6]
	qLP
	qLR
	qRP
	qRR
	rdynamic
	rf = SimpleReferenceFrame("rf")
	rfToMatrix
	rfTrajGen
	rhoScalar
	rhoTrajGen
	rightPitchAnkleController
int	RightPitchJoint = 10
	rightRollAnkleController
int	RightRollJoint = 11
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
	rollController
	saturationLP
	saturationLR
	saturationRP
	saturationRR
	sot
	stf = StateTransformation("stf")
	taskCom
	taskLP
	taskLR
	taskRP
	taskRR
	taskUpperBody
	tauDesLP
	tauDesLR
	tauDesRP
	tauDesRR
	tauLP
	tauLR
	tauRP
	tauRR
	timeStep
	value
	waistMix
	waistToMatrix
	waistTrajGen
	wp = DummyWalkingPatternGenerator("dummy_wp")
	zmp_estimator = SimpleZmpEstimator("zmpEst")

Variable Documentation

ajs

ajs

Definition at line 377 of file appli_dcmCoupledAndSingleAnkleControl.py.

base_estimator

base_estimator

Definition at line 129 of file appli_dcmCoupledAndSingleAnkleControl.py.

cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 162 of file appli_dcmCoupledAndSingleAnkleControl.py.

cm

cm

Definition at line 452 of file appli_dcmCoupledAndSingleAnkleControl.py.

cm_conf

cm_conf

Definition at line 452 of file appli_dcmCoupledAndSingleAnkleControl.py.

comTrajGen

comTrajGen

Definition at line 64 of file appli_dcmCoupledAndSingleAnkleControl.py.

contactLF

contactLF

Definition at line 493 of file appli_dcmCoupledAndSingleAnkleControl.py.

contactRF

contactRF

Definition at line 501 of file appli_dcmCoupledAndSingleAnkleControl.py.

controller

controller = CoupledAdmittanceController("pitchController")

Definition at line 243 of file appli_dcmCoupledAndSingleAnkleControl.py.

CTRL_MAX

CTRL_MAX

Definition at line 29 of file appli_dcmCoupledAndSingleAnkleControl.py.

data_type

data_type

Definition at line 559 of file appli_dcmCoupledAndSingleAnkleControl.py.

dcm_control

dcm_control

Definition at line 214 of file appli_dcmCoupledAndSingleAnkleControl.py.

dcm_controller

dcm_controller = DcmController("dcmCtrl")

Definition at line 198 of file appli_dcmCoupledAndSingleAnkleControl.py.

device_filters

device_filters

Definition at line 127 of file appli_dcmCoupledAndSingleAnkleControl.py.

distribute

distribute = create_simple_distribute_wrench()

Definition at line 223 of file appli_dcmCoupledAndSingleAnkleControl.py.

dqLimSat

list dqLimSat = [0.3]

Definition at line 57 of file appli_dcmCoupledAndSingleAnkleControl.py.

dt

dt = robot.timeStep

Definition at line 32 of file appli_dcmCoupledAndSingleAnkleControl.py.

dvdt

dvdt

Definition at line 548 of file appli_dcmCoupledAndSingleAnkleControl.py.

e2q

e2q = EulerToQuat("e2q")

Definition at line 149 of file appli_dcmCoupledAndSingleAnkleControl.py.

estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 169 of file appli_dcmCoupledAndSingleAnkleControl.py.

feature

feature

Definition at line 461 of file appli_dcmCoupledAndSingleAnkleControl.py.

ftc

ftc

Definition at line 178 of file appli_dcmCoupledAndSingleAnkleControl.py.

g

float g = 9.81

Definition at line 40 of file appli_dcmCoupledAndSingleAnkleControl.py.

gamma_dcm

float gamma_dcm = 0.2

Definition at line 196 of file appli_dcmCoupledAndSingleAnkleControl.py.

h

h = robot.dynamic.com.value[2]

Definition at line 39 of file appli_dcmCoupledAndSingleAnkleControl.py.

imu_filters

imu_filters

Definition at line 128 of file appli_dcmCoupledAndSingleAnkleControl.py.

kDiffPitch

list kDiffPitch = [1e-6]

Definition at line 239 of file appli_dcmCoupledAndSingleAnkleControl.py.

kDiffRoll

list kDiffRoll = [0.0]

Definition at line 240 of file appli_dcmCoupledAndSingleAnkleControl.py.

keepWaist

keepWaist

Definition at line 516 of file appli_dcmCoupledAndSingleAnkleControl.py.

Ki_dcm

list Ki_dcm = [0.0, 0.0, 0.0]

Definition at line 195 of file appli_dcmCoupledAndSingleAnkleControl.py.

Kp_dcm

list Kp_dcm = [5.0, 5.0, 5.0]

Definition at line 194 of file appli_dcmCoupledAndSingleAnkleControl.py.

KpPitch

list KpPitch = [1e-3]

Definition at line 317 of file appli_dcmCoupledAndSingleAnkleControl.py.

KpRoll

list KpRoll = [1e-3]

Definition at line 318 of file appli_dcmCoupledAndSingleAnkleControl.py.

kSat

float kSat = 10.0

Definition at line 55 of file appli_dcmCoupledAndSingleAnkleControl.py.

kSumPitch

list kSumPitch = [1e-3]

Definition at line 237 of file appli_dcmCoupledAndSingleAnkleControl.py.

kSumRoll

list kSumRoll = [0.0]

Definition at line 238 of file appli_dcmCoupledAndSingleAnkleControl.py.

leftPitchAnkleController

leftPitchAnkleController

Definition at line 360 of file appli_dcmCoupledAndSingleAnkleControl.py.

LeftPitchJoint

int LeftPitchJoint = 4

Definition at line 232 of file appli_dcmCoupledAndSingleAnkleControl.py.

leftRollAnkleController

leftRollAnkleController

Definition at line 374 of file appli_dcmCoupledAndSingleAnkleControl.py.

LeftRollJoint

int LeftRollJoint = 5

Definition at line 233 of file appli_dcmCoupledAndSingleAnkleControl.py.

lfToMatrix

lfToMatrix

Definition at line 69 of file appli_dcmCoupledAndSingleAnkleControl.py.

lfTrajGen

lfTrajGen

Definition at line 67 of file appli_dcmCoupledAndSingleAnkleControl.py.

mass

mass = robot.dynamic.data.mass[0]

Definition at line 38 of file appli_dcmCoupledAndSingleAnkleControl.py.

multLP

multLP

Definition at line 272 of file appli_dcmCoupledAndSingleAnkleControl.py.

multLR

multLR

Definition at line 309 of file appli_dcmCoupledAndSingleAnkleControl.py.

multRP

multRP

Definition at line 257 of file appli_dcmCoupledAndSingleAnkleControl.py.

multRR

multRR

Definition at line 294 of file appli_dcmCoupledAndSingleAnkleControl.py.

omega

omega = sqrt(g / h)

Definition at line 41 of file appli_dcmCoupledAndSingleAnkleControl.py.

param_server

param_server

Definition at line 44 of file appli_dcmCoupledAndSingleAnkleControl.py.

phaseScalar

phaseScalar

Definition at line 101 of file appli_dcmCoupledAndSingleAnkleControl.py.

phaseSwitch

phaseSwitch

Definition at line 219 of file appli_dcmCoupledAndSingleAnkleControl.py.

phaseTrajGen

phaseTrajGen

Definition at line 100 of file appli_dcmCoupledAndSingleAnkleControl.py.

pitchController

pitchController

Definition at line 277 of file appli_dcmCoupledAndSingleAnkleControl.py.

publisher

publisher

Definition at line 556 of file appli_dcmCoupledAndSingleAnkleControl.py.

q

q = list(robot.dynamic.position.value)

Definition at line 463 of file appli_dcmCoupledAndSingleAnkleControl.py.

qLimSat

list qLimSat = [pi / 6]

Definition at line 56 of file appli_dcmCoupledAndSingleAnkleControl.py.

qLP

qLP

Definition at line 349 of file appli_dcmCoupledAndSingleAnkleControl.py.

qLR

qLR

Definition at line 363 of file appli_dcmCoupledAndSingleAnkleControl.py.

qRP

qRP

Definition at line 321 of file appli_dcmCoupledAndSingleAnkleControl.py.

qRR

qRR

Definition at line 335 of file appli_dcmCoupledAndSingleAnkleControl.py.

rdynamic

rdynamic

Definition at line 154 of file appli_dcmCoupledAndSingleAnkleControl.py.

rf

rf = SimpleReferenceFrame("rf")

Definition at line 134 of file appli_dcmCoupledAndSingleAnkleControl.py.

rfToMatrix

rfToMatrix

Definition at line 75 of file appli_dcmCoupledAndSingleAnkleControl.py.

rfTrajGen

rfTrajGen

Definition at line 73 of file appli_dcmCoupledAndSingleAnkleControl.py.

rhoScalar

rhoScalar

Definition at line 95 of file appli_dcmCoupledAndSingleAnkleControl.py.

rhoTrajGen

rhoTrajGen

Definition at line 94 of file appli_dcmCoupledAndSingleAnkleControl.py.

rightPitchAnkleController

rightPitchAnkleController

Definition at line 332 of file appli_dcmCoupledAndSingleAnkleControl.py.

RightPitchJoint

int RightPitchJoint = 10

Definition at line 234 of file appli_dcmCoupledAndSingleAnkleControl.py.

rightRollAnkleController

rightRollAnkleController

Definition at line 346 of file appli_dcmCoupledAndSingleAnkleControl.py.

RightRollJoint

int RightRollJoint = 11

Definition at line 235 of file appli_dcmCoupledAndSingleAnkleControl.py.

robot

robot

Definition at line 559 of file appli_dcmCoupledAndSingleAnkleControl.py.

robot_name

robot_name = "robot"

Definition at line 35 of file appli_dcmCoupledAndSingleAnkleControl.py.

robotDim

robotDim = robot.dynamic.getDimension()

Definition at line 37 of file appli_dcmCoupledAndSingleAnkleControl.py.

rollController

rollController

Definition at line 314 of file appli_dcmCoupledAndSingleAnkleControl.py.

saturationLP

saturationLP

Definition at line 423 of file appli_dcmCoupledAndSingleAnkleControl.py.

saturationLR

saturationLR

Definition at line 437 of file appli_dcmCoupledAndSingleAnkleControl.py.

saturationRP

saturationRP

Definition at line 395 of file appli_dcmCoupledAndSingleAnkleControl.py.

saturationRR

saturationRR

Definition at line 409 of file appli_dcmCoupledAndSingleAnkleControl.py.

sot

sot

Definition at line 526 of file appli_dcmCoupledAndSingleAnkleControl.py.

stf

stf = StateTransformation("stf")

Definition at line 141 of file appli_dcmCoupledAndSingleAnkleControl.py.

taskCom

taskCom

Definition at line 510 of file appli_dcmCoupledAndSingleAnkleControl.py.

taskLP

taskLP

Definition at line 430 of file appli_dcmCoupledAndSingleAnkleControl.py.

taskLR

taskLR

Definition at line 444 of file appli_dcmCoupledAndSingleAnkleControl.py.

taskRP

taskRP

Definition at line 402 of file appli_dcmCoupledAndSingleAnkleControl.py.

taskRR

taskRR

Definition at line 416 of file appli_dcmCoupledAndSingleAnkleControl.py.

taskUpperBody

taskUpperBody

Definition at line 460 of file appli_dcmCoupledAndSingleAnkleControl.py.

tauDesLP

tauDesLP

Definition at line 268 of file appli_dcmCoupledAndSingleAnkleControl.py.

tauDesLR

tauDesLR

Definition at line 305 of file appli_dcmCoupledAndSingleAnkleControl.py.

tauDesRP

tauDesRP

Definition at line 253 of file appli_dcmCoupledAndSingleAnkleControl.py.

tauDesRR

tauDesRR

Definition at line 290 of file appli_dcmCoupledAndSingleAnkleControl.py.

tauLP

tauLP

Definition at line 263 of file appli_dcmCoupledAndSingleAnkleControl.py.

tauLR

tauLR

Definition at line 300 of file appli_dcmCoupledAndSingleAnkleControl.py.

tauRP

tauRP

Definition at line 248 of file appli_dcmCoupledAndSingleAnkleControl.py.

tauRR

tauRR

Definition at line 285 of file appli_dcmCoupledAndSingleAnkleControl.py.

timeStep

timeStep

Definition at line 31 of file appli_dcmCoupledAndSingleAnkleControl.py.

value

value

Definition at line 86 of file appli_dcmCoupledAndSingleAnkleControl.py.

waistMix

waistMix

Definition at line 82 of file appli_dcmCoupledAndSingleAnkleControl.py.

waistToMatrix

waistToMatrix

Definition at line 90 of file appli_dcmCoupledAndSingleAnkleControl.py.

waistTrajGen

waistTrajGen

Definition at line 79 of file appli_dcmCoupledAndSingleAnkleControl.py.

wp

wp = DummyWalkingPatternGenerator("dummy_wp")

Definition at line 107 of file appli_dcmCoupledAndSingleAnkleControl.py.

zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 181 of file appli_dcmCoupledAndSingleAnkleControl.py.