appli_dcmZmpControl.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_dcmZmpControl

Variables
	cdc_estimator
	com_admittance_control = ComAdmittanceController("comAdmCtrl")
	comDes = list(robot.dynamic.com.value)
	contactLF
	contactRF
	data_type
	dcm_control
	dcm_controller = DcmController("dcmCtrl")
	dcmDes = comDes
tuple	ddcomDes = (0.0, 0.0, 0.0)
	device_filters
	dt = robot.timeStep
	dvdt
	estimator = DummyDcmEstimator("dummy")
	feature
	filters = Bunch()
	ft_LF_filter
	ft_RF_filter
float	g = 9.81
float	gamma_dcm = 0.2
	h = robot.dynamic.com.value[2]
	keepWaist
list	Ki_dcm = [0.0, 0.0, 0.0]
list	Kp_adm = [0.0, 0.0, 0.0]
list	Kp_dcm = [8.0, 8.0, 8.0]
	mass = robot.dynamic.data.mass[0]
	omega = sqrt(g / h)
	publisher
	q = list(robot.dynamic.position.value)
	robot
string	rospub_signalName = "{0}_{1}".format("fake", "comDes")
	sot
	taskCom
	taskUpperBody
	timeStep
string	topicname = "/sot/{0}/{1}".format("fake", "comDes")
	tracer
	value
	zmp_estimator = SimpleZmpEstimator("zmpEst")
	zmpDes = comDes[:2] + (0.0,)