Variables
	admBF_dqSaturation

	admBF_Kp

	admLF

	admRF

	base_estimator

	cdc_estimator = DcmEstimator("cdc_estimator")

	cm

	cm_conf

	comControl = operator.Multiply_of_vector("comControl")

	comErr = operator.Substract_of_vector("comErr")

	comTrajGen

	contactLF

	contactRF

	controller = AdmittanceControllerEndEffector("admLF")

	data_type

	device_filters

	distribute = SimpleDistributeWrench("distribute")

	dt = robot.timeStep

	dvdt

	e2q = EulerToQuat("e2q")

	estimator = DummyDcmEstimator("dummy")

	feature

	forceControl = operator.Add_of_vector("forceControl")

	ftc

float	g = 9.81

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

	imu_filters

	keepWaist

list	Kp_com = [0.0] * 2 + [4.0]

	lfToMatrix

	lfTrajGen

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

	omega = sqrt(g / h)

	param_server

	publisher

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

	rdynamic

	rf = SimpleReferenceFrame("rf")

	rfToMatrix

	rfTrajGen

	robot

string	robot_name = "robot"

	robotDim = robot.dynamic.getDimension()

	sot

	stf = StateTransformation("stf")

	taskCom

	taskUpperBody

	timeStep

	tracer

	value

	wp = DummyWalkingPatternGenerator("dummy_wp")

	wrenchControl = operator.Mix_of_vector("wrenchControl")

	zmp_estimator = SimpleZmpEstimator("zmpEst")

Variable Documentation

◆ admBF_dqSaturation

admBF_dqSaturation

Definition at line 193 of file appli_feet_admittance.py.

◆ admBF_Kp

admBF_Kp

Definition at line 189 of file appli_feet_admittance.py.

◆ admLF

admLF

Definition at line 209 of file appli_feet_admittance.py.

◆ admRF

admRF

Definition at line 223 of file appli_feet_admittance.py.

◆ base_estimator

base_estimator

Definition at line 89 of file appli_feet_admittance.py.

◆ cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 122 of file appli_feet_admittance.py.

◆ cm

cm

Definition at line 226 of file appli_feet_admittance.py.

◆ cm_conf

cm_conf

Definition at line 226 of file appli_feet_admittance.py.

◆ comControl

comControl = operator.Multiply_of_vector("comControl")

Definition at line 161 of file appli_feet_admittance.py.

◆ comErr

comErr = operator.Substract_of_vector("comErr")

Definition at line 156 of file appli_feet_admittance.py.

◆ comTrajGen

comTrajGen

Definition at line 54 of file appli_feet_admittance.py.

◆ contactLF

contactLF

Definition at line 271 of file appli_feet_admittance.py.

◆ contactRF

contactRF

Definition at line 290 of file appli_feet_admittance.py.

◆ controller

controller = AdmittanceControllerEndEffector("admLF")

Definition at line 198 of file appli_feet_admittance.py.

◆ data_type

data_type

Definition at line 399 of file appli_feet_admittance.py.

◆ device_filters

device_filters

Definition at line 87 of file appli_feet_admittance.py.

◆ distribute

distribute = SimpleDistributeWrench("distribute")

Definition at line 181 of file appli_feet_admittance.py.

◆ dt

dt = robot.timeStep

Definition at line 29 of file appli_feet_admittance.py.

◆ dvdt

dvdt

Definition at line 388 of file appli_feet_admittance.py.

◆ e2q

e2q = EulerToQuat("e2q")

Definition at line 109 of file appli_feet_admittance.py.

◆ estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 129 of file appli_feet_admittance.py.

◆ feature

feature

Definition at line 235 of file appli_feet_admittance.py.

◆ forceControl

forceControl = operator.Add_of_vector("forceControl")

Definition at line 166 of file appli_feet_admittance.py.

◆ ftc

ftc

Definition at line 138 of file appli_feet_admittance.py.

◆ g

float g = 9.81

Definition at line 37 of file appli_feet_admittance.py.

◆ h

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

Definition at line 36 of file appli_feet_admittance.py.

◆ imu_filters

imu_filters

Definition at line 88 of file appli_feet_admittance.py.

◆ keepWaist

keepWaist

Definition at line 315 of file appli_feet_admittance.py.

◆ Kp_com

list Kp_com = [0.0] * 2 + [4.0]

Definition at line 154 of file appli_feet_admittance.py.

◆ lfToMatrix

lfToMatrix

Definition at line 57 of file appli_feet_admittance.py.

◆ lfTrajGen

lfTrajGen

Definition at line 56 of file appli_feet_admittance.py.

◆ mass

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

Definition at line 35 of file appli_feet_admittance.py.

◆ omega

omega = sqrt(g / h)

Definition at line 38 of file appli_feet_admittance.py.

◆ param_server

param_server

Definition at line 41 of file appli_feet_admittance.py.

◆ publisher

publisher

Definition at line 396 of file appli_feet_admittance.py.

◆ q

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

Definition at line 237 of file appli_feet_admittance.py.

◆ rdynamic

rdynamic

Definition at line 114 of file appli_feet_admittance.py.

◆ rf

rf = SimpleReferenceFrame("rf")

Definition at line 94 of file appli_feet_admittance.py.

◆ rfToMatrix

rfToMatrix

Definition at line 61 of file appli_feet_admittance.py.

◆ rfTrajGen

rfTrajGen

Definition at line 60 of file appli_feet_admittance.py.

◆ robot

robot

Definition at line 399 of file appli_feet_admittance.py.

◆ robot_name

robot_name = "robot"

Definition at line 32 of file appli_feet_admittance.py.

◆ robotDim

robotDim = robot.dynamic.getDimension()

Definition at line 34 of file appli_feet_admittance.py.

◆ sot

sot

Definition at line 371 of file appli_feet_admittance.py.

◆ stf

stf = StateTransformation("stf")

Definition at line 101 of file appli_feet_admittance.py.

◆ taskCom

taskCom

Definition at line 309 of file appli_feet_admittance.py.

◆ taskUpperBody

taskUpperBody

Definition at line 234 of file appli_feet_admittance.py.

◆ timeStep

timeStep

Definition at line 28 of file appli_feet_admittance.py.

◆ tracer

tracer

Definition at line 445 of file appli_feet_admittance.py.

◆ value

value

Definition at line 68 of file appli_feet_admittance.py.

◆ wp

wp = DummyWalkingPatternGenerator("dummy_wp")

Definition at line 66 of file appli_feet_admittance.py.

◆ wrenchControl

wrenchControl = operator.Mix_of_vector("wrenchControl")

Definition at line 171 of file appli_feet_admittance.py.

◆ zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 141 of file appli_feet_admittance.py.

Variables