sot_talos_balance.test.appli_dcmZmpControl_feedback Namespace Reference

Variables
	base_estimator
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	com_admittance_control = ComAdmittanceController("comAdmCtrl")
	comDes = robot.dynamic.com.value
	contactLF
	contactRF
	data_type
	dcm_control
	dcm_controller = DcmController("dcmCtrl")
	dcmDes = comDes
	— Translation comDes = list(comDes) comDes[0] += 0.01 comDes[1] += 0.01 comDes = tuple(comDes) More...
tuple	ddcomDes = (0.0, 0.0, 0.0)
	device_filters
	dt = robot.timeStep
	dvdt
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	estimatorDc = DummyDcmEstimator("dcest")
	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_adm = [0.0, 0.0, 0.0]
list	Kp_dcm = [5.0, 5.0, 5.0]
	mass = robot.dynamic.data.mass[0]
	omega = sqrt(g / h)
	param_server
	publisher
	q = list(robot.dynamic.position.value)
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
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

base_estimator

base_estimator

Definition at line 60 of file appli_dcmZmpControl_feedback.py.

cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 69 of file appli_dcmZmpControl_feedback.py.

cm

cm

Definition at line 163 of file appli_dcmZmpControl_feedback.py.

cm_conf

cm_conf

Definition at line 163 of file appli_dcmZmpControl_feedback.py.

com_admittance_control

com_admittance_control = ComAdmittanceController("comAdmCtrl")

Definition at line 147 of file appli_dcmZmpControl_feedback.py.

comDes

comDes = robot.dynamic.com.value

Definition at line 29 of file appli_dcmZmpControl_feedback.py.

contactLF

contactLF

Definition at line 206 of file appli_dcmZmpControl_feedback.py.

contactRF

contactRF

Definition at line 214 of file appli_dcmZmpControl_feedback.py.

data_type

data_type

Definition at line 321 of file appli_dcmZmpControl_feedback.py.

dcm_control

dcm_control

Definition at line 140 of file appli_dcmZmpControl_feedback.py.

dcm_controller

dcm_controller = DcmController("dcmCtrl")

Definition at line 124 of file appli_dcmZmpControl_feedback.py.

dcmDes

dcmDes = comDes

— Translation comDes = list(comDes) comDes[0] += 0.01 comDes[1] += 0.01 comDes = tuple(comDes)

Definition at line 38 of file appli_dcmZmpControl_feedback.py.

ddcomDes

tuple ddcomDes = (0.0, 0.0, 0.0)

Definition at line 42 of file appli_dcmZmpControl_feedback.py.

device_filters

device_filters

Definition at line 58 of file appli_dcmZmpControl_feedback.py.

dt

dt = robot.timeStep

Definition at line 21 of file appli_dcmZmpControl_feedback.py.

dvdt

dvdt

Definition at line 303 of file appli_dcmZmpControl_feedback.py.

e2q

e2q = EulerToQuat("e2q")

Definition at line 64 of file appli_dcmZmpControl_feedback.py.

estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 78 of file appli_dcmZmpControl_feedback.py.

estimatorDc

estimatorDc = DummyDcmEstimator("dcest")

Definition at line 87 of file appli_dcmZmpControl_feedback.py.

feature

feature

Definition at line 172 of file appli_dcmZmpControl_feedback.py.

ftc

ftc

Definition at line 104 of file appli_dcmZmpControl_feedback.py.

g

float g = 9.81

Definition at line 49 of file appli_dcmZmpControl_feedback.py.

gamma_dcm

float gamma_dcm = 0.2

Definition at line 122 of file appli_dcmZmpControl_feedback.py.

h

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

Definition at line 48 of file appli_dcmZmpControl_feedback.py.

imu_filters

imu_filters

Definition at line 59 of file appli_dcmZmpControl_feedback.py.

keepWaist

keepWaist

Definition at line 230 of file appli_dcmZmpControl_feedback.py.

Ki_dcm

list Ki_dcm = [0.0, 0.0, 0.0]

Definition at line 121 of file appli_dcmZmpControl_feedback.py.

Kp_adm

list Kp_adm = [0.0, 0.0, 0.0]

Definition at line 145 of file appli_dcmZmpControl_feedback.py.

Kp_dcm

list Kp_dcm = [5.0, 5.0, 5.0]

Definition at line 120 of file appli_dcmZmpControl_feedback.py.

mass

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

Definition at line 47 of file appli_dcmZmpControl_feedback.py.

omega

omega = sqrt(g / h)

Definition at line 50 of file appli_dcmZmpControl_feedback.py.

param_server

param_server

Definition at line 57 of file appli_dcmZmpControl_feedback.py.

publisher

publisher

Definition at line 311 of file appli_dcmZmpControl_feedback.py.

q

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

Definition at line 174 of file appli_dcmZmpControl_feedback.py.

robot

robot

Definition at line 321 of file appli_dcmZmpControl_feedback.py.

robot_name

robot_name = "robot"

Definition at line 45 of file appli_dcmZmpControl_feedback.py.

robotDim

robotDim = robot.dynamic.getDimension()

Definition at line 46 of file appli_dcmZmpControl_feedback.py.

rospub_signalName

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

Definition at line 313 of file appli_dcmZmpControl_feedback.py.

sot

sot

Definition at line 286 of file appli_dcmZmpControl_feedback.py.

taskCom

taskCom

Definition at line 223 of file appli_dcmZmpControl_feedback.py.

taskUpperBody

taskUpperBody

Definition at line 171 of file appli_dcmZmpControl_feedback.py.

timeStep

timeStep

Definition at line 20 of file appli_dcmZmpControl_feedback.py.

topicname

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

Definition at line 314 of file appli_dcmZmpControl_feedback.py.

tracer

tracer

Definition at line 376 of file appli_dcmZmpControl_feedback.py.

value

value

Definition at line 79 of file appli_dcmZmpControl_feedback.py.

zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 107 of file appli_dcmZmpControl_feedback.py.

zmpDes

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

Definition at line 39 of file appli_dcmZmpControl_feedback.py.