appli_dcmZmpControl_feedback.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_dcmZmpControl_feedback

Variables
	base_estimator
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	com_admittance_control = ComAdmittanceController("comAdmCtrl")
	comDes = robot.dynamic.com.value
	contactLF
	contactRF
	data_type
	dcm_control
	dcm_controller = DcmController("dcmCtrl")
	dcmDes = comDes
	— Translation comDes = list(comDes) comDes[0] += 0.01 comDes[1] += 0.01 comDes = tuple(comDes) More...
tuple	ddcomDes = (0.0, 0.0, 0.0)
	device_filters
	dt = robot.timeStep
	dvdt
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	estimatorDc = DummyDcmEstimator("dcest")
	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_adm = [0.0, 0.0, 0.0]
list	Kp_dcm = [5.0, 5.0, 5.0]
	mass = robot.dynamic.data.mass[0]
	omega = sqrt(g / h)
	param_server
	publisher
	q = list(robot.dynamic.position.value)
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
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,)