sot_talos_balance.test.appli_dcmZmpCopControl Namespace Reference

Variables
	base_estimator
	baseselec
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	com_admittance_control = ComAdmittanceController("comAdmCtrl")
	comTrajGen
	contactLF
	contactRF
	controller = AnkleAdmittanceController("rightController")
	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")
	— Reference frame More...
	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_adm = [0.0, 0.0, 0.0]
list	Kp_ankles = [-1e-3] * 2
list	Kp_dcm = [5.0, 5.0, 5.0]
	leftAnkleController
int	LeftPitchJoint = 4
int	LeftRollJoint = 5
	lfToMatrix
	lfTrajGen
	m2qLF
	m2qRF
	mass = robot.dynamic.data.mass[0]
	name
	omega = sqrt(g / h)
	param_server
	publisher
	q = list(robot.dynamic.position.value)
	rdynamic
	rfToMatrix
	rfTrajGen
	rhoScalar
	rhoTrajGen
	rightAnkleController
int	RightPitchJoint = 10
int	RightRollJoint = 11
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
	sot
	taskCom
	taskComH
	taskUpperBody
	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_dcmZmpCopControl.py.

baseselec

baseselec

Definition at line 158 of file appli_dcmZmpCopControl.py.

cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 168 of file appli_dcmZmpCopControl.py.

cm

cm

Definition at line 275 of file appli_dcmZmpCopControl.py.

cm_conf

cm_conf

Definition at line 275 of file appli_dcmZmpCopControl.py.

com_admittance_control

com_admittance_control = ComAdmittanceController("comAdmCtrl")

Definition at line 235 of file appli_dcmZmpCopControl.py.

comTrajGen

comTrajGen

Definition at line 60 of file appli_dcmZmpCopControl.py.

contactLF

contactLF

Definition at line 319 of file appli_dcmZmpCopControl.py.

contactRF

contactRF

Definition at line 329 of file appli_dcmZmpCopControl.py.

controller

controller = AnkleAdmittanceController("rightController")

Definition at line 259 of file appli_dcmZmpCopControl.py.

CTRL_MAX

CTRL_MAX

Definition at line 30 of file appli_dcmZmpCopControl.py.

data_type

data_type

Definition at line 392 of file appli_dcmZmpCopControl.py.

dcm_control

dcm_control

Definition at line 220 of file appli_dcmZmpCopControl.py.

dcm_controller

dcm_controller = DcmController("dcmCtrl")

Definition at line 204 of file appli_dcmZmpCopControl.py.

device_filters

device_filters

Definition at line 117 of file appli_dcmZmpCopControl.py.

distribute

distribute = create_distribute_wrench(distribute_conf)

Definition at line 225 of file appli_dcmZmpCopControl.py.

dt

dt = robot.timeStep

Definition at line 33 of file appli_dcmZmpCopControl.py.

dvdt

dvdt

Definition at line 381 of file appli_dcmZmpCopControl.py.

e2q

e2q = EulerToQuat("e2q")

— Reference frame

— State transformation stf = StateTransformation("stf") stf.init() plug(robot.rf.referenceFrame,stf.referenceFrame) plug(robot.base_estimator.q,stf.q_in) plug(robot.base_estimator.v,stf.v_in) robot.stf = stf

Definition at line 148 of file appli_dcmZmpCopControl.py.

estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 175 of file appli_dcmZmpCopControl.py.

feature

feature

Definition at line 285 of file appli_dcmZmpCopControl.py.

ftc

ftc

Definition at line 184 of file appli_dcmZmpCopControl.py.

g

float g = 9.81

Definition at line 41 of file appli_dcmZmpCopControl.py.

gamma_dcm

float gamma_dcm = 0.2

Definition at line 202 of file appli_dcmZmpCopControl.py.

h

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

Definition at line 40 of file appli_dcmZmpCopControl.py.

imu_filters

imu_filters

Definition at line 118 of file appli_dcmZmpCopControl.py.

keepWaist

keepWaist

Definition at line 354 of file appli_dcmZmpCopControl.py.

Ki_dcm

list Ki_dcm = [0.0, 0.0, 0.0]

Definition at line 201 of file appli_dcmZmpCopControl.py.

Kp_adm

list Kp_adm = [0.0, 0.0, 0.0]

Definition at line 233 of file appli_dcmZmpCopControl.py.

Kp_ankles

list Kp_ankles = [-1e-3] * 2

Definition at line 256 of file appli_dcmZmpCopControl.py.

Kp_dcm

list Kp_dcm = [5.0, 5.0, 5.0]

Definition at line 200 of file appli_dcmZmpCopControl.py.

leftAnkleController

leftAnkleController

Definition at line 272 of file appli_dcmZmpCopControl.py.

LeftPitchJoint

int LeftPitchJoint = 4

Definition at line 251 of file appli_dcmZmpCopControl.py.

LeftRollJoint

int LeftRollJoint = 5

Definition at line 252 of file appli_dcmZmpCopControl.py.

lfToMatrix

lfToMatrix

Definition at line 65 of file appli_dcmZmpCopControl.py.

lfTrajGen

lfTrajGen

Definition at line 63 of file appli_dcmZmpCopControl.py.

m2qLF

m2qLF

Definition at line 121 of file appli_dcmZmpCopControl.py.

m2qRF

m2qRF

Definition at line 124 of file appli_dcmZmpCopControl.py.

mass

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

Definition at line 39 of file appli_dcmZmpCopControl.py.

name

name

Definition at line 340 of file appli_dcmZmpCopControl.py.

omega

omega = sqrt(g / h)

Definition at line 42 of file appli_dcmZmpCopControl.py.

param_server

param_server

Definition at line 45 of file appli_dcmZmpCopControl.py.

publisher

publisher

Definition at line 389 of file appli_dcmZmpCopControl.py.

q

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

Definition at line 287 of file appli_dcmZmpCopControl.py.

rdynamic

rdynamic

Definition at line 153 of file appli_dcmZmpCopControl.py.

rfToMatrix

rfToMatrix

Definition at line 71 of file appli_dcmZmpCopControl.py.

rfTrajGen

rfTrajGen

Definition at line 69 of file appli_dcmZmpCopControl.py.

rhoScalar

rhoScalar

Definition at line 91 of file appli_dcmZmpCopControl.py.

rhoTrajGen

rhoTrajGen

Definition at line 90 of file appli_dcmZmpCopControl.py.

rightAnkleController

rightAnkleController

Definition at line 264 of file appli_dcmZmpCopControl.py.

RightPitchJoint

int RightPitchJoint = 10

Definition at line 253 of file appli_dcmZmpCopControl.py.

RightRollJoint

int RightRollJoint = 11

Definition at line 254 of file appli_dcmZmpCopControl.py.

robot

robot

Definition at line 392 of file appli_dcmZmpCopControl.py.

robot_name

robot_name = "robot"

Definition at line 36 of file appli_dcmZmpCopControl.py.

robotDim

robotDim = robot.dynamic.getDimension()

Definition at line 38 of file appli_dcmZmpCopControl.py.

sot

sot

Definition at line 364 of file appli_dcmZmpCopControl.py.

taskCom

taskCom

Definition at line 346 of file appli_dcmZmpCopControl.py.

taskComH

taskComH

Definition at line 340 of file appli_dcmZmpCopControl.py.

taskUpperBody

taskUpperBody

Definition at line 284 of file appli_dcmZmpCopControl.py.

timeStep

timeStep

Definition at line 32 of file appli_dcmZmpCopControl.py.

value

value

Definition at line 82 of file appli_dcmZmpCopControl.py.

waistMix

waistMix

Definition at line 78 of file appli_dcmZmpCopControl.py.

waistToMatrix

waistToMatrix

Definition at line 86 of file appli_dcmZmpCopControl.py.

waistTrajGen

waistTrajGen

Definition at line 75 of file appli_dcmZmpCopControl.py.

wp

wp = DummyWalkingPatternGenerator("dummy_wp")

Definition at line 97 of file appli_dcmZmpCopControl.py.

zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 187 of file appli_dcmZmpCopControl.py.