sot_talos_balance.test.appli_ankle_admittance Namespace Reference

Variables
	baseEstimator
	cdc_estimator = DcmEstimator("cdc_estimator")
	comControl = operator.Multiply_of_vector("comControl")
	comErr = operator.Substract_of_vector("comErr")
	comTrajGen
	contactLF
	contactRF
	controlManager
	controlManagerConf
	data_type
	device_filters
	distribute = DistributeWrench("distribute")
	dt = robot.timeStep
	dvdt
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	feature
	forceControl = operator.Add_of_vector("forceControl")
	ftc
float	g = 9.81
	h = robot.dynamic.com.value[2]
	imu_filters
	keepWaist
list	Kp_com = [0.0] * 2 + [4.0]
	leftAnkleController
	leftAnklePitchTask
	leftAnkleRollTask
int	LeftPitchJoint = 10
	leftPitchSelec = Selec_of_vector("leftPitchSelec")
int	LeftRollJoint = 11
	leftRollSelec = Selec_of_vector("leftRollSelec")
	lfToMatrix
	lfTrajGen
	mass = robot.dynamic.data.mass[0]
	omega = sqrt(g / h)
	param_server
	publisher
	q = list(robot.dynamic.position.value)
	rdynamic
	rf = SimpleReferenceFrame("rf")
	rfToMatrix
	rfTrajGen
	rightAnkleController
	rightAnklePitchTask
	rightAnkleRollTask
int	RightPitchJoint = 16
	rightPitchSelec = Selec_of_vector("rightPitchSelec")
int	RightRollJoint = 17
	rightRollSelec = Selec_of_vector("rightRollSelec")
	robot
	robot_name
	robotDim = robot.dynamic.getDimension()
string	robotName = "robot"
	sot
	stf = StateTransformation("stf")
	taskCom
	taskUpperBody
	timeStep
	tracer
	value
	wp = DummyWalkingPatternGenerator("dummy_wp")
	wrenchControl = operator.Mix_of_vector("wrenchControl")
	wrenchDistributor
	zmp_estimator = SimpleZmpEstimator("zmpEst")

Variable Documentation

baseEstimator

baseEstimator

Definition at line 89 of file appli_ankle_admittance.py.

cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 120 of file appli_ankle_admittance.py.

comControl

comControl = operator.Multiply_of_vector("comControl")

Definition at line 159 of file appli_ankle_admittance.py.

comErr

comErr = operator.Substract_of_vector("comErr")

Definition at line 154 of file appli_ankle_admittance.py.

comTrajGen

comTrajGen

Definition at line 55 of file appli_ankle_admittance.py.

contactLF

contactLF

Definition at line 291 of file appli_ankle_admittance.py.

contactRF

contactRF

Definition at line 299 of file appli_ankle_admittance.py.

controlManager

controlManager

Definition at line 196 of file appli_ankle_admittance.py.

controlManagerConf

controlManagerConf

Definition at line 196 of file appli_ankle_admittance.py.

data_type

data_type

Definition at line 352 of file appli_ankle_admittance.py.

device_filters

device_filters

Definition at line 87 of file appli_ankle_admittance.py.

distribute

distribute = DistributeWrench("distribute")

Definition at line 179 of file appli_ankle_admittance.py.

dt

dt = robot.timeStep

Definition at line 30 of file appli_ankle_admittance.py.

dvdt

dvdt

Definition at line 341 of file appli_ankle_admittance.py.

e2q

e2q = EulerToQuat("e2q")

Definition at line 107 of file appli_ankle_admittance.py.

estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 127 of file appli_ankle_admittance.py.

feature

feature

Definition at line 205 of file appli_ankle_admittance.py.

forceControl

forceControl = operator.Add_of_vector("forceControl")

Definition at line 164 of file appli_ankle_admittance.py.

ftc

ftc

Definition at line 136 of file appli_ankle_admittance.py.

g

float g = 9.81

Definition at line 38 of file appli_ankle_admittance.py.

h

h = robot.dynamic.com.value[2]

Definition at line 37 of file appli_ankle_admittance.py.

imu_filters

imu_filters

Definition at line 88 of file appli_ankle_admittance.py.

keepWaist

keepWaist

Definition at line 314 of file appli_ankle_admittance.py.

Kp_com

list Kp_com = [0.0] * 2 + [4.0]

Definition at line 152 of file appli_ankle_admittance.py.

leftAnkleController

leftAnkleController

Definition at line 186 of file appli_ankle_admittance.py.

leftAnklePitchTask

leftAnklePitchTask

Definition at line 270 of file appli_ankle_admittance.py.

leftAnkleRollTask

leftAnkleRollTask

Definition at line 283 of file appli_ankle_admittance.py.

LeftPitchJoint

int LeftPitchJoint = 10

Definition at line 264 of file appli_ankle_admittance.py.

leftPitchSelec

leftPitchSelec = Selec_of_vector("leftPitchSelec")

Definition at line 266 of file appli_ankle_admittance.py.

LeftRollJoint

int LeftRollJoint = 11

Definition at line 277 of file appli_ankle_admittance.py.

leftRollSelec

leftRollSelec = Selec_of_vector("leftRollSelec")

Definition at line 279 of file appli_ankle_admittance.py.

lfToMatrix

lfToMatrix

Definition at line 58 of file appli_ankle_admittance.py.

lfTrajGen

lfTrajGen

Definition at line 57 of file appli_ankle_admittance.py.

mass

mass = robot.dynamic.data.mass[0]

Definition at line 36 of file appli_ankle_admittance.py.

omega

omega = sqrt(g / h)

Definition at line 39 of file appli_ankle_admittance.py.

param_server

param_server

Definition at line 42 of file appli_ankle_admittance.py.

publisher

publisher

Definition at line 349 of file appli_ankle_admittance.py.

q

q = list(robot.dynamic.position.value)

Definition at line 207 of file appli_ankle_admittance.py.

rdynamic

rdynamic

Definition at line 112 of file appli_ankle_admittance.py.

rf

rf = SimpleReferenceFrame("rf")

Definition at line 92 of file appli_ankle_admittance.py.

rfToMatrix

rfToMatrix

Definition at line 62 of file appli_ankle_admittance.py.

rfTrajGen

rfTrajGen

Definition at line 61 of file appli_ankle_admittance.py.

rightAnkleController

rightAnkleController

Definition at line 191 of file appli_ankle_admittance.py.

rightAnklePitchTask

rightAnklePitchTask

Definition at line 244 of file appli_ankle_admittance.py.

rightAnkleRollTask

rightAnkleRollTask

Definition at line 257 of file appli_ankle_admittance.py.

RightPitchJoint

int RightPitchJoint = 16

Definition at line 238 of file appli_ankle_admittance.py.

rightPitchSelec

rightPitchSelec = Selec_of_vector("rightPitchSelec")

Definition at line 240 of file appli_ankle_admittance.py.

RightRollJoint

int RightRollJoint = 17

Definition at line 251 of file appli_ankle_admittance.py.

rightRollSelec

rightRollSelec = Selec_of_vector("rightRollSelec")

Definition at line 253 of file appli_ankle_admittance.py.

robot

robot

Definition at line 352 of file appli_ankle_admittance.py.

robot_name

robot_name

Definition at line 196 of file appli_ankle_admittance.py.

robotDim

robotDim = robot.dynamic.getDimension()

Definition at line 35 of file appli_ankle_admittance.py.

robotName

string robotName = "robot"

Definition at line 33 of file appli_ankle_admittance.py.

sot

sot

Definition at line 324 of file appli_ankle_admittance.py.

stf

stf = StateTransformation("stf")

Definition at line 99 of file appli_ankle_admittance.py.

taskCom

taskCom

Definition at line 308 of file appli_ankle_admittance.py.

taskUpperBody

taskUpperBody

Definition at line 204 of file appli_ankle_admittance.py.

timeStep

timeStep

Definition at line 29 of file appli_ankle_admittance.py.

tracer

tracer

Definition at line 406 of file appli_ankle_admittance.py.

value

value

Definition at line 68 of file appli_ankle_admittance.py.

wp

wp = DummyWalkingPatternGenerator("dummy_wp")

Definition at line 66 of file appli_ankle_admittance.py.

wrenchControl

wrenchControl = operator.Mix_of_vector("wrenchControl")

Definition at line 169 of file appli_ankle_admittance.py.

wrenchDistributor

wrenchDistributor

Definition at line 183 of file appli_ankle_admittance.py.

zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 139 of file appli_ankle_admittance.py.