Variables
	base_estimator

	cdc_estimator = DcmEstimator("cdc_estimator")

	cm

	cm_conf

	comTrajGen

	contactLF

	contactRF

	controller = SimpleAdmittanceController("rightPitchAnkleController")

	CTRL_MAX

	data_type

	dcm_control

	dcm_controller = DcmController("dcmCtrl")

	device_filters

	distribute = create_distribute_wrench(distribute_conf)

	dt = robot.timeStep

	dvdt

	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_dcm = [5.0, 5.0, 5.0]

list	KpPitch = [1e-3]

list	KpRoll = [1e-3]

	leftAnklePitchTask

	leftAnkleRollTask

	leftPitchAnkleController

int	LeftPitchJoint = 4

	leftPitchSelec

	leftRollAnkleController

int	LeftRollJoint = 5

	leftRollSelec

	lfToMatrix

	lfTrajGen

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

	multLP

	multLR

	multRP

	multRR

	omega = sqrt(g / h)

	param_server

	phaseScalar

	phaseTrajGen

	publisher

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

	rdynamic

	rf = SimpleReferenceFrame("rf")

	rfToMatrix

	rfTrajGen

	rhoScalar

	rhoTrajGen

	rightAnklePitchTask

	rightAnkleRollTask

	rightPitchAnkleController

int	RightPitchJoint = 10

	rightPitchSelec

	rightRollAnkleController

int	RightRollJoint = 11

	rightRollSelec

	robot

string	robot_name = "robot"

	robotDim = robot.dynamic.getDimension()

	sot

	stateselecLP

	stateselecLR

	stateselecRP

	stateselecRR

	stf = StateTransformation("stf")

	taskCom

	taskUpperBody

	tauselecLP

	tauselecLR

	tauselecRP

	tauselecRR

	timeStep

	value

	waistMix

	waistToMatrix

	waistTrajGen

	wp = DummyWalkingPatternGenerator("dummy_wp")

	zmp_estimator = SimpleZmpEstimator("zmpEst")

Variable Documentation

◆ base_estimator

base_estimator

Definition at line 120 of file appli_dcmAnkleControl.py.

◆ cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 153 of file appli_dcmAnkleControl.py.

◆ cm

cm

Definition at line 370 of file appli_dcmAnkleControl.py.

◆ cm_conf

cm_conf

Definition at line 370 of file appli_dcmAnkleControl.py.

◆ comTrajGen

comTrajGen

Definition at line 55 of file appli_dcmAnkleControl.py.

◆ contactLF

contactLF

Definition at line 414 of file appli_dcmAnkleControl.py.

◆ contactRF

contactRF

Definition at line 423 of file appli_dcmAnkleControl.py.

◆ controller

controller = SimpleAdmittanceController("rightPitchAnkleController")

Definition at line 227 of file appli_dcmAnkleControl.py.

◆ CTRL_MAX

CTRL_MAX

Definition at line 25 of file appli_dcmAnkleControl.py.

◆ data_type

data_type

Definition at line 479 of file appli_dcmAnkleControl.py.

◆ dcm_control

dcm_control

Definition at line 205 of file appli_dcmAnkleControl.py.

◆ dcm_controller

dcm_controller = DcmController("dcmCtrl")

Definition at line 189 of file appli_dcmAnkleControl.py.

◆ device_filters

device_filters

Definition at line 118 of file appli_dcmAnkleControl.py.

◆ distribute

distribute = create_distribute_wrench(distribute_conf)

Definition at line 210 of file appli_dcmAnkleControl.py.

◆ dt

dt = robot.timeStep

Definition at line 28 of file appli_dcmAnkleControl.py.

◆ dvdt

dvdt

Definition at line 468 of file appli_dcmAnkleControl.py.

◆ e2q

e2q = EulerToQuat("e2q")

Definition at line 140 of file appli_dcmAnkleControl.py.

◆ estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 160 of file appli_dcmAnkleControl.py.

◆ feature

feature

Definition at line 380 of file appli_dcmAnkleControl.py.

◆ ftc

ftc

Definition at line 169 of file appli_dcmAnkleControl.py.

◆ g

float g = 9.81

Definition at line 36 of file appli_dcmAnkleControl.py.

◆ gamma_dcm

float gamma_dcm = 0.2

Definition at line 187 of file appli_dcmAnkleControl.py.

◆ h

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

Definition at line 35 of file appli_dcmAnkleControl.py.

◆ imu_filters

imu_filters

Definition at line 119 of file appli_dcmAnkleControl.py.

◆ keepWaist

keepWaist

Definition at line 439 of file appli_dcmAnkleControl.py.

◆ Ki_dcm

list Ki_dcm = [0.0, 0.0, 0.0]

Definition at line 186 of file appli_dcmAnkleControl.py.

◆ Kp_dcm

list Kp_dcm = [5.0, 5.0, 5.0]

Definition at line 185 of file appli_dcmAnkleControl.py.

◆ KpPitch

list KpPitch = [1e-3]

Definition at line 223 of file appli_dcmAnkleControl.py.

◆ KpRoll

list KpRoll = [1e-3]

Definition at line 224 of file appli_dcmAnkleControl.py.

◆ leftAnklePitchTask

leftAnklePitchTask

Definition at line 327 of file appli_dcmAnkleControl.py.

◆ leftAnkleRollTask

leftAnkleRollTask

Definition at line 363 of file appli_dcmAnkleControl.py.

◆ leftPitchAnkleController

leftPitchAnkleController

Definition at line 325 of file appli_dcmAnkleControl.py.

◆ LeftPitchJoint

int LeftPitchJoint = 4

Definition at line 218 of file appli_dcmAnkleControl.py.

◆ leftPitchSelec

leftPitchSelec

Definition at line 313 of file appli_dcmAnkleControl.py.

◆ leftRollAnkleController

leftRollAnkleController

Definition at line 361 of file appli_dcmAnkleControl.py.

◆ LeftRollJoint

int LeftRollJoint = 5

Definition at line 219 of file appli_dcmAnkleControl.py.

◆ leftRollSelec

leftRollSelec

Definition at line 349 of file appli_dcmAnkleControl.py.

◆ lfToMatrix

lfToMatrix

Definition at line 60 of file appli_dcmAnkleControl.py.

◆ lfTrajGen

lfTrajGen

Definition at line 58 of file appli_dcmAnkleControl.py.

◆ mass

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

Definition at line 34 of file appli_dcmAnkleControl.py.

◆ multLP

multLP

Definition at line 317 of file appli_dcmAnkleControl.py.

◆ multLR

multLR

Definition at line 353 of file appli_dcmAnkleControl.py.

◆ multRP

multRP

Definition at line 244 of file appli_dcmAnkleControl.py.

◆ multRR

multRR

Definition at line 281 of file appli_dcmAnkleControl.py.

◆ omega

omega = sqrt(g / h)

Definition at line 37 of file appli_dcmAnkleControl.py.

◆ param_server

param_server

Definition at line 40 of file appli_dcmAnkleControl.py.

◆ phaseScalar

phaseScalar

Definition at line 92 of file appli_dcmAnkleControl.py.

◆ phaseTrajGen

phaseTrajGen

Definition at line 91 of file appli_dcmAnkleControl.py.

◆ publisher

publisher

Definition at line 476 of file appli_dcmAnkleControl.py.

◆ q

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

Definition at line 382 of file appli_dcmAnkleControl.py.

◆ rdynamic

rdynamic

Definition at line 145 of file appli_dcmAnkleControl.py.

◆ rf

rf = SimpleReferenceFrame("rf")

Definition at line 125 of file appli_dcmAnkleControl.py.

◆ rfToMatrix

rfToMatrix

Definition at line 66 of file appli_dcmAnkleControl.py.

◆ rfTrajGen

rfTrajGen

Definition at line 64 of file appli_dcmAnkleControl.py.

◆ rhoScalar

rhoScalar

Definition at line 86 of file appli_dcmAnkleControl.py.

◆ rhoTrajGen

rhoTrajGen

Definition at line 85 of file appli_dcmAnkleControl.py.

◆ rightAnklePitchTask

rightAnklePitchTask

Definition at line 254 of file appli_dcmAnkleControl.py.

◆ rightAnkleRollTask

rightAnkleRollTask

Definition at line 291 of file appli_dcmAnkleControl.py.

◆ rightPitchAnkleController

rightPitchAnkleController

Definition at line 252 of file appli_dcmAnkleControl.py.

◆ RightPitchJoint

int RightPitchJoint = 10

Definition at line 220 of file appli_dcmAnkleControl.py.

◆ rightPitchSelec

rightPitchSelec

Definition at line 240 of file appli_dcmAnkleControl.py.

◆ rightRollAnkleController

rightRollAnkleController

Definition at line 289 of file appli_dcmAnkleControl.py.

◆ RightRollJoint

int RightRollJoint = 11

Definition at line 221 of file appli_dcmAnkleControl.py.

◆ rightRollSelec

rightRollSelec

Definition at line 277 of file appli_dcmAnkleControl.py.

◆ robot

robot

Definition at line 479 of file appli_dcmAnkleControl.py.

◆ robot_name

robot_name = "robot"

Definition at line 31 of file appli_dcmAnkleControl.py.

◆ robotDim

robotDim = robot.dynamic.getDimension()

Definition at line 33 of file appli_dcmAnkleControl.py.

◆ sot

sot

Definition at line 449 of file appli_dcmAnkleControl.py.

◆ stateselecLP

stateselecLP

Definition at line 303 of file appli_dcmAnkleControl.py.

◆ stateselecLR

stateselecLR

Definition at line 339 of file appli_dcmAnkleControl.py.

◆ stateselecRP

stateselecRP

Definition at line 230 of file appli_dcmAnkleControl.py.

◆ stateselecRR

stateselecRR

Definition at line 267 of file appli_dcmAnkleControl.py.

◆ stf

stf = StateTransformation("stf")

Definition at line 132 of file appli_dcmAnkleControl.py.

◆ taskCom

taskCom

Definition at line 433 of file appli_dcmAnkleControl.py.

◆ taskUpperBody

taskUpperBody

Definition at line 379 of file appli_dcmAnkleControl.py.

◆ tauselecLP

tauselecLP

Definition at line 308 of file appli_dcmAnkleControl.py.

◆ tauselecLR

tauselecLR

Definition at line 344 of file appli_dcmAnkleControl.py.

◆ tauselecRP

tauselecRP

Definition at line 235 of file appli_dcmAnkleControl.py.

◆ tauselecRR

tauselecRR

Definition at line 272 of file appli_dcmAnkleControl.py.

◆ timeStep

timeStep

Definition at line 27 of file appli_dcmAnkleControl.py.

◆ value

value

Definition at line 77 of file appli_dcmAnkleControl.py.

◆ waistMix

waistMix

Definition at line 73 of file appli_dcmAnkleControl.py.

◆ waistToMatrix

waistToMatrix

Definition at line 81 of file appli_dcmAnkleControl.py.

◆ waistTrajGen

waistTrajGen

Definition at line 70 of file appli_dcmAnkleControl.py.

◆ wp

wp = DummyWalkingPatternGenerator("dummy_wp")

Definition at line 98 of file appli_dcmAnkleControl.py.

◆ zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 172 of file appli_dcmAnkleControl.py.

Variables