Variables
	base_estimator

	cdc_estimator = DcmEstimator("cdc_estimator")

	cm

	cm_conf

	com_admittance_control = ComAdmittanceController("comAdmCtrl")

	comTrajGen

	contactLF

	contactRF

	controller = FootForceDifferenceController("footController")

	CTRL_MAX

	data_type

	dcm_control

	dcm_controller = DcmController("dcmCtrl")

	device_filters

int	dfzAdmittance = -1e-4

	distribute = create_distribute_wrench(distribute_conf)

	dt = robot.timeStep

	dvdt

	dynamic

	e2q = EulerToQuat("e2q")
	— Reference frame More...

	estimator = DummyDcmEstimator("dummy")

	feature

	ffdc

	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]

	lfToMatrix

	lfTrajGen

	m2qLF

	m2qRF

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

	name

	omega = sqrt(g / h)

	param_server

	phaseInt

	phaseScalar

	phaseTrajGen

	publisher

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

	rdynamic

	rfToMatrix

	rfTrajGen

	rhoScalar

	rhoTrajGen

	robot

string	robot_name = "robot"

	robotDim = robot.dynamic.getDimension()

	sot

	taskCom

	taskComH

	taskUpperBody

	timeStep

	value

float	vdcDamping = 0.0

float	vdcFrequency = -1.0

	waistMix

	waistToMatrix

	waistTrajGen

	wp = DummyWalkingPatternGenerator("dummy_wp")

	zmp_estimator = SimpleZmpEstimator("zmpEst")

Variable Documentation

◆ base_estimator

base_estimator

Definition at line 133 of file appli_dcmZmpFootControl.py.

◆ cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 182 of file appli_dcmZmpFootControl.py.

◆ cm

cm

Definition at line 293 of file appli_dcmZmpFootControl.py.

◆ cm_conf

cm_conf

Definition at line 293 of file appli_dcmZmpFootControl.py.

◆ com_admittance_control

com_admittance_control = ComAdmittanceController("comAdmCtrl")

Definition at line 250 of file appli_dcmZmpFootControl.py.

◆ comTrajGen

comTrajGen

Definition at line 64 of file appli_dcmZmpFootControl.py.

◆ contactLF

contactLF

Definition at line 337 of file appli_dcmZmpFootControl.py.

◆ contactRF

contactRF

Definition at line 347 of file appli_dcmZmpFootControl.py.

◆ controller

controller = FootForceDifferenceController("footController")

Definition at line 271 of file appli_dcmZmpFootControl.py.

◆ CTRL_MAX

CTRL_MAX

Definition at line 34 of file appli_dcmZmpFootControl.py.

◆ data_type

data_type

Definition at line 409 of file appli_dcmZmpFootControl.py.

◆ dcm_control

dcm_control

Definition at line 234 of file appli_dcmZmpFootControl.py.

◆ dcm_controller

dcm_controller = DcmController("dcmCtrl")

Definition at line 218 of file appli_dcmZmpFootControl.py.

◆ device_filters

device_filters

Definition at line 131 of file appli_dcmZmpFootControl.py.

◆ dfzAdmittance

int dfzAdmittance = -1e-4

Definition at line 267 of file appli_dcmZmpFootControl.py.

◆ distribute

distribute = create_distribute_wrench(distribute_conf)

Definition at line 239 of file appli_dcmZmpFootControl.py.

◆ dt

dt = robot.timeStep

Definition at line 37 of file appli_dcmZmpFootControl.py.

◆ dvdt

dvdt

Definition at line 398 of file appli_dcmZmpFootControl.py.

◆ dynamic

dynamic

Definition at line 358 of file appli_dcmZmpFootControl.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 162 of file appli_dcmZmpFootControl.py.