sot_talos_balance.test.appli_dcmSingleAnkleControl Namespace Reference

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_simple_distribute_wrench()
	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]
int	LeftPitchJoint = 4
int	LeftRollJoint = 5
	lfToMatrix
	lfTrajGen
	mass = robot.dynamic.data.mass[0]
	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
	stateselecRP
	stateselecRR
	stf = StateTransformation("stf")
	taskCom
	taskUpperBody
	tauselecRP
	tauselecRR
	timeStep
	value
	waistMix
	waistToMatrix
	waistTrajGen
	wp = DummyWalkingPatternGenerator("dummy_wp")
	zmp_estimator = SimpleZmpEstimator("zmpEst")

Variable Documentation

base_estimator

base_estimator

Definition at line 119 of file appli_dcmSingleAnkleControl.py.

cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 152 of file appli_dcmSingleAnkleControl.py.

cm

cm

Definition at line 299 of file appli_dcmSingleAnkleControl.py.

cm_conf

cm_conf

Definition at line 299 of file appli_dcmSingleAnkleControl.py.

comTrajGen

comTrajGen

Definition at line 54 of file appli_dcmSingleAnkleControl.py.

contactLF

contactLF

Definition at line 343 of file appli_dcmSingleAnkleControl.py.

contactRF

contactRF

Definition at line 351 of file appli_dcmSingleAnkleControl.py.

controller

controller = SimpleAdmittanceController("rightPitchAnkleController")

Definition at line 226 of file appli_dcmSingleAnkleControl.py.

CTRL_MAX

CTRL_MAX

Definition at line 24 of file appli_dcmSingleAnkleControl.py.

data_type

data_type

Definition at line 405 of file appli_dcmSingleAnkleControl.py.

dcm_control

dcm_control

Definition at line 204 of file appli_dcmSingleAnkleControl.py.

dcm_controller

dcm_controller = DcmController("dcmCtrl")

Definition at line 188 of file appli_dcmSingleAnkleControl.py.

device_filters

device_filters

Definition at line 117 of file appli_dcmSingleAnkleControl.py.

distribute

distribute = create_simple_distribute_wrench()

Definition at line 209 of file appli_dcmSingleAnkleControl.py.

dt

dt = robot.timeStep

Definition at line 27 of file appli_dcmSingleAnkleControl.py.

dvdt

dvdt

Definition at line 394 of file appli_dcmSingleAnkleControl.py.

e2q

e2q = EulerToQuat("e2q")

Definition at line 139 of file appli_dcmSingleAnkleControl.py.

estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 159 of file appli_dcmSingleAnkleControl.py.

feature

feature

Definition at line 309 of file appli_dcmSingleAnkleControl.py.

ftc

ftc

Definition at line 168 of file appli_dcmSingleAnkleControl.py.

g

float g = 9.81

Definition at line 35 of file appli_dcmSingleAnkleControl.py.

gamma_dcm

float gamma_dcm = 0.2

Definition at line 186 of file appli_dcmSingleAnkleControl.py.

h

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

Definition at line 34 of file appli_dcmSingleAnkleControl.py.

imu_filters

imu_filters

Definition at line 118 of file appli_dcmSingleAnkleControl.py.

keepWaist

keepWaist

Definition at line 367 of file appli_dcmSingleAnkleControl.py.

Ki_dcm

list Ki_dcm = [0.0, 0.0, 0.0]

Definition at line 185 of file appli_dcmSingleAnkleControl.py.

Kp_dcm

list Kp_dcm = [5.0, 5.0, 5.0]

Definition at line 184 of file appli_dcmSingleAnkleControl.py.

KpPitch

list KpPitch = [1e-3]

Definition at line 222 of file appli_dcmSingleAnkleControl.py.

KpRoll

list KpRoll = [1e-3]

Definition at line 223 of file appli_dcmSingleAnkleControl.py.

LeftPitchJoint

int LeftPitchJoint = 4

Definition at line 217 of file appli_dcmSingleAnkleControl.py.

LeftRollJoint

int LeftRollJoint = 5

Definition at line 218 of file appli_dcmSingleAnkleControl.py.

lfToMatrix

lfToMatrix

Definition at line 59 of file appli_dcmSingleAnkleControl.py.

lfTrajGen

lfTrajGen

Definition at line 57 of file appli_dcmSingleAnkleControl.py.

mass

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

Definition at line 33 of file appli_dcmSingleAnkleControl.py.

multRP

multRP

Definition at line 243 of file appli_dcmSingleAnkleControl.py.

multRR

multRR

Definition at line 280 of file appli_dcmSingleAnkleControl.py.

omega

omega = sqrt(g / h)

Definition at line 36 of file appli_dcmSingleAnkleControl.py.

param_server

param_server

Definition at line 39 of file appli_dcmSingleAnkleControl.py.

phaseScalar

phaseScalar

Definition at line 91 of file appli_dcmSingleAnkleControl.py.

phaseTrajGen

phaseTrajGen

Definition at line 90 of file appli_dcmSingleAnkleControl.py.

publisher

publisher

Definition at line 402 of file appli_dcmSingleAnkleControl.py.

q

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

Definition at line 311 of file appli_dcmSingleAnkleControl.py.

rdynamic

rdynamic

Definition at line 144 of file appli_dcmSingleAnkleControl.py.

rf

rf = SimpleReferenceFrame("rf")

Definition at line 124 of file appli_dcmSingleAnkleControl.py.

rfToMatrix

rfToMatrix

Definition at line 65 of file appli_dcmSingleAnkleControl.py.

rfTrajGen

rfTrajGen

Definition at line 63 of file appli_dcmSingleAnkleControl.py.

rhoScalar

rhoScalar

Definition at line 85 of file appli_dcmSingleAnkleControl.py.

rhoTrajGen

rhoTrajGen

Definition at line 84 of file appli_dcmSingleAnkleControl.py.

rightAnklePitchTask

rightAnklePitchTask

Definition at line 253 of file appli_dcmSingleAnkleControl.py.

rightAnkleRollTask

rightAnkleRollTask

Definition at line 290 of file appli_dcmSingleAnkleControl.py.

rightPitchAnkleController

rightPitchAnkleController

Definition at line 251 of file appli_dcmSingleAnkleControl.py.

RightPitchJoint

int RightPitchJoint = 10

Definition at line 219 of file appli_dcmSingleAnkleControl.py.

rightPitchSelec

rightPitchSelec

Definition at line 239 of file appli_dcmSingleAnkleControl.py.

rightRollAnkleController

rightRollAnkleController

Definition at line 288 of file appli_dcmSingleAnkleControl.py.

RightRollJoint

int RightRollJoint = 11

Definition at line 220 of file appli_dcmSingleAnkleControl.py.

rightRollSelec

rightRollSelec

Definition at line 276 of file appli_dcmSingleAnkleControl.py.

robot

robot

Definition at line 405 of file appli_dcmSingleAnkleControl.py.

robot_name

robot_name = "robot"

Definition at line 30 of file appli_dcmSingleAnkleControl.py.

robotDim

robotDim = robot.dynamic.getDimension()

Definition at line 32 of file appli_dcmSingleAnkleControl.py.

sot

sot

Definition at line 377 of file appli_dcmSingleAnkleControl.py.

stateselecRP

stateselecRP

Definition at line 229 of file appli_dcmSingleAnkleControl.py.

stateselecRR

stateselecRR

Definition at line 266 of file appli_dcmSingleAnkleControl.py.

stf

stf = StateTransformation("stf")

Definition at line 131 of file appli_dcmSingleAnkleControl.py.

taskCom

taskCom

Definition at line 361 of file appli_dcmSingleAnkleControl.py.

taskUpperBody

taskUpperBody

Definition at line 308 of file appli_dcmSingleAnkleControl.py.

tauselecRP

tauselecRP

Definition at line 234 of file appli_dcmSingleAnkleControl.py.

tauselecRR

tauselecRR

Definition at line 271 of file appli_dcmSingleAnkleControl.py.

timeStep

timeStep

Definition at line 26 of file appli_dcmSingleAnkleControl.py.

value

value

Definition at line 76 of file appli_dcmSingleAnkleControl.py.

waistMix

waistMix

Definition at line 72 of file appli_dcmSingleAnkleControl.py.

waistToMatrix

waistToMatrix

Definition at line 80 of file appli_dcmSingleAnkleControl.py.

waistTrajGen

waistTrajGen

Definition at line 69 of file appli_dcmSingleAnkleControl.py.

wp

wp = DummyWalkingPatternGenerator("dummy_wp")

Definition at line 97 of file appli_dcmSingleAnkleControl.py.

zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 171 of file appli_dcmSingleAnkleControl.py.