appli_dcm_estimator.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_dcm_estimator

Variables
	base_estimator
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	comTrajGen
	contactLF
	contactRF
	data_type
	device_filters
	dt = robot.timeStep
	dvdt
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	ftc
float	g = 9.81
	h = robot.dynamic.com.value[2]
	imu_filters
	mass = robot.dynamic.data.mass[0]
	omega = sqrt(g / h)
	param_server
	publisher
	rdynamic
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
	sot
	taskCom
	timeStep
	value
	zmp_estimator = SimpleZmpEstimator("zmpEst")