Variables
	cdc_estimator

	com_admittance_control = ComAdmittanceController("comAdmCtrl")

	comDes = list(robot.dynamic.com.value)

	contactLF

	contactRF

	data_type

	dcm_control

	dcm_controller = DcmController("dcmCtrl")

	dcmDes = comDes

tuple	ddcomDes = (0.0, 0.0, 0.0)

	device_filters

	dt = robot.timeStep

	dvdt

	estimator = DummyDcmEstimator("dummy")

	feature

	filters = Bunch()

	ft_LF_filter

	ft_RF_filter

float	g = 9.81

float	gamma_dcm = 0.2

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

	keepWaist

list	Ki_dcm = [0.0, 0.0, 0.0]

list	Kp_adm = [0.0, 0.0, 0.0]

list	Kp_dcm = [8.0, 8.0, 8.0]

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

	omega = sqrt(g / h)

	publisher

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

	robot

string	rospub_signalName = "{0}_{1}".format("fake", "comDes")

	sot

	taskCom

	taskUpperBody

	timeStep

string	topicname = "/sot/{0}/{1}".format("fake", "comDes")

	tracer

	value

	zmp_estimator = SimpleZmpEstimator("zmpEst")

	zmpDes = comDes[:2] + (0.0,)

Variable Documentation

◆ cdc_estimator

cdc_estimator

Definition at line 49 of file appli_dcmZmpControl.py.

◆ com_admittance_control

com_admittance_control = ComAdmittanceController("comAdmCtrl")

Definition at line 114 of file appli_dcmZmpControl.py.

◆ comDes

comDes = list(robot.dynamic.com.value)

Definition at line 25 of file appli_dcmZmpControl.py.

◆ contactLF

contactLF

Definition at line 167 of file appli_dcmZmpControl.py.

◆ contactRF

contactRF

Definition at line 175 of file appli_dcmZmpControl.py.

◆ data_type

data_type

Definition at line 291 of file appli_dcmZmpControl.py.

◆ dcm_control

dcm_control

Definition at line 107 of file appli_dcmZmpControl.py.

◆ dcm_controller

dcm_controller = DcmController("dcmCtrl")

Definition at line 91 of file appli_dcmZmpControl.py.

◆ dcmDes

dcmDes = comDes

Definition at line 29 of file appli_dcmZmpControl.py.

◆ ddcomDes

tuple ddcomDes = (0.0, 0.0, 0.0)

Definition at line 31 of file appli_dcmZmpControl.py.

◆ device_filters

device_filters

Definition at line 69 of file appli_dcmZmpControl.py.

◆ dt

dt = robot.timeStep

Definition at line 18 of file appli_dcmZmpControl.py.

◆ dvdt

dvdt

Definition at line 261 of file appli_dcmZmpControl.py.

◆ estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 52 of file appli_dcmZmpControl.py.

◆ feature

feature

Definition at line 133 of file appli_dcmZmpControl.py.

◆ filters

filters = Bunch()

Definition at line 64 of file appli_dcmZmpControl.py.

◆ ft_LF_filter

ft_LF_filter

Definition at line 66 of file appli_dcmZmpControl.py.

◆ ft_RF_filter

ft_RF_filter

Definition at line 65 of file appli_dcmZmpControl.py.

◆ g

float g = 9.81

Definition at line 36 of file appli_dcmZmpControl.py.

◆ gamma_dcm

float gamma_dcm = 0.2

Definition at line 89 of file appli_dcmZmpControl.py.

◆ h

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

Definition at line 35 of file appli_dcmZmpControl.py.

◆ keepWaist

keepWaist

Definition at line 191 of file appli_dcmZmpControl.py.

◆ Ki_dcm

list Ki_dcm = [0.0, 0.0, 0.0]

Definition at line 88 of file appli_dcmZmpControl.py.

◆ Kp_adm

list Kp_adm = [0.0, 0.0, 0.0]

Definition at line 112 of file appli_dcmZmpControl.py.

◆ Kp_dcm

list Kp_dcm = [8.0, 8.0, 8.0]

Definition at line 87 of file appli_dcmZmpControl.py.

◆ mass

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

Definition at line 34 of file appli_dcmZmpControl.py.

◆ omega

omega = sqrt(g / h)

Definition at line 37 of file appli_dcmZmpControl.py.

◆ publisher

publisher

Definition at line 269 of file appli_dcmZmpControl.py.

◆ q

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

Definition at line 135 of file appli_dcmZmpControl.py.

◆ robot

robot

Definition at line 290 of file appli_dcmZmpControl.py.

◆ rospub_signalName

string rospub_signalName = "{0}_{1}".format("fake", "comDes")

Definition at line 271 of file appli_dcmZmpControl.py.

◆ sot

sot

Definition at line 247 of file appli_dcmZmpControl.py.

◆ taskCom

taskCom

Definition at line 184 of file appli_dcmZmpControl.py.

◆ taskUpperBody

taskUpperBody

Definition at line 132 of file appli_dcmZmpControl.py.

◆ timeStep

timeStep

Definition at line 17 of file appli_dcmZmpControl.py.

◆ topicname

string topicname = "/sot/{0}/{1}".format("fake", "comDes")

Definition at line 272 of file appli_dcmZmpControl.py.

◆ tracer

tracer

Definition at line 318 of file appli_dcmZmpControl.py.

◆ value

value

Definition at line 53 of file appli_dcmZmpControl.py.

◆ zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 72 of file appli_dcmZmpControl.py.

◆ zmpDes

zmpDes = comDes[:2] + (0.0,)

Definition at line 30 of file appli_dcmZmpControl.py.

Variables