appli_dcmZmpFootControl.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_dcmZmpFootControl

Variables
	base_estimator
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	com_admittance_control = ComAdmittanceController("comAdmCtrl")
	comTrajGen
	contactLF
	contactRF
	controller = FootForceDifferenceController("footController")
	CTRL_MAX
	data_type
	dcm_control
	dcm_controller = DcmController("dcmCtrl")
	device_filters
int	dfzAdmittance = -1e-4
	distribute = create_distribute_wrench(distribute_conf)
	dt = robot.timeStep
	dvdt
	dynamic
	e2q = EulerToQuat("e2q")
	— Reference frame More...
	estimator = DummyDcmEstimator("dummy")
	feature
	ffdc
	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]
	lfToMatrix
	lfTrajGen
	m2qLF
	m2qRF
	mass = robot.dynamic.data.mass[0]
	name
	omega = sqrt(g / h)
	param_server
	phaseInt
	phaseScalar
	phaseTrajGen
	publisher
	q = list(robot.dynamic.position.value)
	rdynamic
	rfToMatrix
	rfTrajGen
	rhoScalar
	rhoTrajGen
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
	sot
	taskCom
	taskComH
	taskUpperBody
	timeStep
	value
float	vdcDamping = 0.0
float	vdcFrequency = -1.0
	waistMix
	waistToMatrix
	waistTrajGen
	wp = DummyWalkingPatternGenerator("dummy_wp")
	zmp_estimator = SimpleZmpEstimator("zmpEst")