appli_dcm_zmp_control_flex.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_dcm_zmp_control_flex

Variables
	base_estimator
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	com_admittance_control = ComAdmittanceController("comAdmCtrl")
	comTrajGen
	contactLF
	contactRF
	CTRL_MAX
	data_type
	dcm_control
	dcm_controller = DcmController("dcmCtrl")
	delay_pos
	delay_vel
	device_filters
	dt = robot.timeStep
	dvdt
	dynamic
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	feature
	folder = None
	ftc
float	g = 9.81
float	gamma_dcm = 0.2
	h = robot.dynamic.com.value[2]
	hipComp
	imu_filters
	integrate
	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
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
	rospack = RosPack()
	sot
	taskCom
	taskComH
	taskUpperBody
	timeStep
	tracer
	triggerTrajGen
	value
	waistMix
	waistToMatrix
	waistTrajGen
	wp = DummyWalkingPatternGenerator("dummy_wp")
	zmp_estimator = SimpleZmpEstimator("zmpEst")
	zmpTrajGen