appli_joystick_dcmZmpControl.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_joystick_dcmZmpControl

Variables
	base_estimator
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	com_admittance_control = ComAdmittanceController("comAdmCtrl")
	contactLF
	contactRF
	CTRL_MAX
	data_type
	dcm_control
	dcm_controller = DcmController("dcmCtrl")
	device_filters
	dt = robot.timeStep
	dvdt
	dynamic
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	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 = [8.0] * 3
	m2qLF
	m2qRF
	mass = robot.dynamic.data.mass[0]
	name
	omega = sqrt(g / h)
	param_server
	pg
	publisher
	THIS PARAGRAPH QUITE DIFFERENT, TO CHECK. More...
	q = list(robot.dynamic.position.value)
	rdynamic
	robot
	ADDED. More...
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
	rospack = RosPack()
	sot
	talos_data_folder = rospack.get_path("talos_data")
	taskCom
	taskComH
	taskUpperBody
	timeStep
	tracer
	END ADDED. More...
	triggerPG
	value
	ON THE NEXT STUFF THERE IS A DIFFERENCE, CHECK IF RELEVENT TO CHANGE HERE AS WELL FROM ISA'S CODE. More...
	wp = DummyWalkingPatternGenerator("dummy_wp")
	zmp_estimator = SimpleZmpEstimator("zmpEst")