sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
force_torque_estimator_conf.py
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1 # -*- coding: utf-8 -*-
2 """
3 Created on Mon Feb 9 13:55:16 2015
4 @author: adelpret
5 """
6 
7 CURRENT_TORQUE_ESTIMATION_TRUST = 0.0
8 # weight for current-base torque estimation (in [0,1]) of ForceTorqueEstimator
9 SATURATION_CURRENT = 10.0
10 # Saturation of current sensor (used by ForceTorqueEstimator)
11 DELAY_ENC = 40
12 # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ENC*dt)
13 DELAY_ACC = 40
14 # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ACC*dt)
15 DELAY_GYRO = 40
16 # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ACC*dt)
17 DELAY_FORCE = 40
18 # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ACC*dt)
19 DELAY_CURRENT = 40
20 # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ACC*dt)