Variables
	base_estimator

	baseselec

	cdc_estimator = DcmEstimator("cdc_estimator")

	cm

	cm_conf

	comTrajGen

	contactLF

	contactRF

	CTRL_MAX

	data_type

	device_filters

	dt = robot.timeStep

	dvdt

	e2q = EulerToQuat("e2q")

	estimator = DummyDcmEstimator("dummy")

	feature

	ftc

float	g = 9.81

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

	imu_filters

	keepWaist

	lfToMatrix

	lfTrajGen

	m2qLF

	m2qRF

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

	omega = sqrt(g / h)

	param_server

	publisher

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

	rdynamic

	rfToMatrix

	rfTrajGen

	rhoScalar

	rhoTrajGen

	robot

string	robot_name = "robot"

	robotDim = robot.dynamic.getDimension()

	sot

	taskCom
	— COM height robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH') plug(robot.wp.comDes,robot.taskComH.featureDes.errorIN) robot.taskComH.task.controlGain.value = 100. More...

	taskUpperBody

	timeStep

	value

	waistMix

	waistToMatrix

	waistTrajGen

	wp = DummyWalkingPatternGenerator("dummy_wp")

	zmp_estimator = SimpleZmpEstimator("zmpEst")

Variable Documentation

◆ base_estimator

base_estimator

Definition at line 118 of file appli_waistControl.py.

◆ baseselec

baseselec

Definition at line 140 of file appli_waistControl.py.

◆ cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 150 of file appli_waistControl.py.

◆ cm

cm

Definition at line 180 of file appli_waistControl.py.

◆ cm_conf

cm_conf

Definition at line 180 of file appli_waistControl.py.

◆ comTrajGen

comTrajGen

Definition at line 59 of file appli_waistControl.py.

◆ contactLF

contactLF

Definition at line 222 of file appli_waistControl.py.

◆ contactRF

contactRF

Definition at line 230 of file appli_waistControl.py.

◆ CTRL_MAX

CTRL_MAX

Definition at line 29 of file appli_waistControl.py.

◆ data_type

data_type

Definition at line 294 of file appli_waistControl.py.

◆ device_filters

device_filters

Definition at line 116 of file appli_waistControl.py.

◆ dt

dt = robot.timeStep

Definition at line 32 of file appli_waistControl.py.

◆ dvdt

dvdt

Definition at line 283 of file appli_waistControl.py.

◆ e2q

e2q = EulerToQuat("e2q")

Definition at line 130 of file appli_waistControl.py.

◆ estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 157 of file appli_waistControl.py.

◆ feature

feature

Definition at line 188 of file appli_waistControl.py.

◆ ftc

ftc

Definition at line 166 of file appli_waistControl.py.

◆ g

float g = 9.81

Definition at line 40 of file appli_waistControl.py.

◆ h

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

Definition at line 39 of file appli_waistControl.py.

◆ imu_filters

imu_filters

Definition at line 117 of file appli_waistControl.py.

◆ keepWaist

keepWaist

Definition at line 251 of file appli_waistControl.py.

◆ lfToMatrix

lfToMatrix

Definition at line 64 of file appli_waistControl.py.

◆ lfTrajGen

lfTrajGen

Definition at line 62 of file appli_waistControl.py.

◆ m2qLF

m2qLF

Definition at line 120 of file appli_waistControl.py.

◆ m2qRF

m2qRF

Definition at line 123 of file appli_waistControl.py.

◆ mass

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

Definition at line 38 of file appli_waistControl.py.

◆ omega

omega = sqrt(g / h)

Definition at line 41 of file appli_waistControl.py.

◆ param_server

param_server

Definition at line 44 of file appli_waistControl.py.

◆ publisher

publisher

Definition at line 291 of file appli_waistControl.py.

◆ q

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

Definition at line 190 of file appli_waistControl.py.

◆ rdynamic

rdynamic

Definition at line 135 of file appli_waistControl.py.

◆ rfToMatrix

rfToMatrix

Definition at line 70 of file appli_waistControl.py.

◆ rfTrajGen

rfTrajGen

Definition at line 68 of file appli_waistControl.py.

◆ rhoScalar

rhoScalar

Definition at line 90 of file appli_waistControl.py.

◆ rhoTrajGen

rhoTrajGen

Definition at line 89 of file appli_waistControl.py.

◆ robot

robot

Definition at line 294 of file appli_waistControl.py.

◆ robot_name

robot_name = "robot"

Definition at line 35 of file appli_waistControl.py.

◆ robotDim

robotDim = robot.dynamic.getDimension()

Definition at line 37 of file appli_waistControl.py.

◆ sot

sot

Definition at line 261 of file appli_waistControl.py.

◆ taskCom

taskCom

— COM height robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH') plug(robot.wp.comDes,robot.taskComH.featureDes.errorIN) robot.taskComH.task.controlGain.value = 100.

robot.taskComH.feature.selec.value = '100'

Definition at line 245 of file appli_waistControl.py.

◆ taskUpperBody

taskUpperBody

Definition at line 187 of file appli_waistControl.py.

◆ timeStep

timeStep

Definition at line 31 of file appli_waistControl.py.

◆ value

value

Definition at line 81 of file appli_waistControl.py.

◆ waistMix

waistMix

Definition at line 77 of file appli_waistControl.py.

◆ waistToMatrix

waistToMatrix

Definition at line 85 of file appli_waistControl.py.

◆ waistTrajGen

waistTrajGen

Definition at line 74 of file appli_waistControl.py.

◆ wp

wp = DummyWalkingPatternGenerator("dummy_wp")

Definition at line 96 of file appli_waistControl.py.

◆ zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 169 of file appli_waistControl.py.

Variables