appli_dcmCoupledAnkleControl.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_dcmCoupledAnkleControl

Variables
	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]
float	kSat = 10.0
list	kSumPitch = [1e-3]
list	kSumRoll = [0.0]
int	LeftPitchJoint = 4
int	LeftRollJoint = 5
	lfToMatrix
	lfTrajGen
	mass = robot.dynamic.data.mass[0]
	multLP
	multLR
	multRP
	multRR
	omega = sqrt(g / h)
	param_server
	phaseScalar
	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
int	RightPitchJoint = 10
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")