appli_dcmCopControl.py File Reference

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Namespaces
	sot_talos_balance.test.appli_dcmCopControl

Variables
	base_estimator
	baseselec
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	comTrajGen
	contactLF
	contactRF
	controller = AnkleAdmittanceController("rightController")
	CTRL_MAX
	data_type
	dcm_control
	dcm_controller = DcmController("dcmCtrl")
	device_filters
	distribute = create_distribute_wrench(distribute_conf)
	dt = robot.timeStep
	dvdt
	e2q = EulerToQuat("e2q")
	— Reference frame More...
	estimator = DummyDcmEstimator("dummy")
	feature
	ftc
float	g = 9.81
float	gamma_dcm = 0.2
	h = robot.dynamic.com.value[2]
	imu_filters
	keepWaist
list	Ki_dcm = [0.0, 0.0, 0.0]
list	Kp_ankles = [1e-3] * 2
list	Kp_dcm = [5.0, 5.0, 5.0]
	leftAnkleController
int	LeftPitchJoint = 4
int	LeftRollJoint = 5
	lfToMatrix
	lfTrajGen
	m2qLF
	m2qRF
	mass = robot.dynamic.data.mass[0]
	omega = sqrt(g / h)
	param_server
	publisher
	q = list(robot.dynamic.position.value)
	rdynamic
	rfToMatrix
	rfTrajGen
	rhoScalar
	rhoTrajGen
	rightAnkleController
int	RightPitchJoint = 10
int	RightRollJoint = 11
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
	sot
	taskCom
	taskUpperBody
	timeStep
	value
	waistMix
	waistToMatrix
	waistTrajGen
	wp = DummyWalkingPatternGenerator("dummy_wp")
	zmp_estimator = SimpleZmpEstimator("zmpEst")