sot_talos_balance.test.test_dcmZmpControl_feedback Namespace Reference

Variables
	comDes_data
	comEst_data
	comRef_data
	comSOT_data
	dcmDes_data
	dcmEst_data
	input = raw_input
	zmpDes_data
	zmpErrSOT = zmpSOT_data - zmpDes_data
	zmpEst_data
	zmpRef_data
	zmpSOT_data

Detailed Description

Test CoM admittance control as described in paper.

Variable Documentation

comDes_data

comDes_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-dcmDes.dat"
)

Definition at line 40 of file test_dcmZmpControl_feedback.py.

comEst_data

comEst_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.cdc_estimator.name") + "-c.dat"
)

Definition at line 44 of file test_dcmZmpControl_feedback.py.

comRef_data

comRef_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.com_admittance_control.name") + "-comRef.dat"
)

Definition at line 48 of file test_dcmZmpControl_feedback.py.

comSOT_data

comSOT_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-com.dat"
)

Definition at line 51 of file test_dcmZmpControl_feedback.py.

dcmDes_data

dcmDes_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-dcmDes.dat"
)

Definition at line 55 of file test_dcmZmpControl_feedback.py.

dcmEst_data

dcmEst_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.estimator.name") + "-dcm.dat"
)

Definition at line 58 of file test_dcmZmpControl_feedback.py.

input

input = raw_input

Definition at line 16 of file test_dcmZmpControl_feedback.py.

zmpDes_data

zmpDes_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-zmpDes.dat"
)

Definition at line 62 of file test_dcmZmpControl_feedback.py.

zmpErrSOT

zmpErrSOT = zmpSOT_data - zmpDes_data

Definition at line 126 of file test_dcmZmpControl_feedback.py.

zmpEst_data

zmpEst_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.zmp_estimator.name") + "-zmp.dat"
)

Definition at line 68 of file test_dcmZmpControl_feedback.py.

zmpRef_data

zmpRef_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-zmpRef.dat"
)

Definition at line 71 of file test_dcmZmpControl_feedback.py.

zmpSOT_data

zmpSOT_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-zmp.dat"
)

Definition at line 65 of file test_dcmZmpControl_feedback.py.