appli_dcm_zmp_control_ffdc_fp.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_dcm_zmp_control_ffdc_fp

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_simple_distribute_wrench()
	dt = robot.timeStep
	dvdt
	dynamic
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	feature
	ffdc
	folder = None
	ftc
float	g = 9.81
float	gainDouble = 1.0
float	gainStance = 300.0
float	gainSwing = 300.0
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 = [8.0] * 3
list	Kz_dcm = [0.0] * 3
	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()
	rospack = RosPack()
	sot
list	swingAdmittance = [0.0] * 3
	taskCom
	taskComH
	taskUpperBody
	timeStep
	triggerTrajGen
	value
float	vdcDamping = 0.0
float	vdcFrequency = 1.0
	waistMix
	waistToMatrix
	waistTrajGen
	wp = DummyWalkingPatternGenerator("dummy_wp")
	zmp_estimator = SimpleZmpEstimator("zmpEst")
	zmpTrajGen