#include <sobec/walk-with-traj/model_factory.hpp>

Public Attributes
double	timeStep = 0.01

eVector3	gravity = eVector3(0, 0, -9.81)

double	footSize = 0.05

double	mu = 0.3

eVector2	coneBox = eVector2(0.1, 0.05)

double	minNforce = 200.0

double	maxNforce = 1200

double	comHeight = 0.87

double	omega = -comHeight / gravity(2)

double	height = 0

double	dist = 0

double	width = 0

double	wFootPlacement = 0

double	wStateReg = 0

double	wControlReg = 0

double	wLimit = 0

double	wWrenchCone = 0

double	wForceTask = 0

double	wCoP = 0

double	wDCM = 0

double	wBaseRot = 0

double	wVCoM = 0

double	wFootRot = 0

double	wPCoM = 0

double	wFlyHigh = 0

double	wVelFoot = 0

double	wColFeet = 0

double	wGripperPos = 0

double	wGripperRot = 0

double	wGripperVel = 0

double	flyHighSlope = 2

double	footMinimalDistance = 0.2

Eigen::VectorXd	stateWeights

Eigen::VectorXd	controlWeights

Eigen::VectorXd	forceWeights

Eigen::VectorXd	lowKinematicLimits

Eigen::VectorXd	highKinematicLimits

double	th_stop = 1e-6

double	th_grad = 1e-9

Member Data Documentation

◆ comHeight

double sobec::ModelMakerSettings::comHeight = 0.87

◆ coneBox

eVector2 sobec::ModelMakerSettings::coneBox = eVector2(0.1, 0.05)

◆ controlWeights

Eigen::VectorXd sobec::ModelMakerSettings::controlWeights

◆ dist

double sobec::ModelMakerSettings::dist = 0

◆ flyHighSlope

double sobec::ModelMakerSettings::flyHighSlope = 2

◆ footMinimalDistance

double sobec::ModelMakerSettings::footMinimalDistance = 0.2

◆ footSize

double sobec::ModelMakerSettings::footSize = 0.05

◆ forceWeights

Eigen::VectorXd sobec::ModelMakerSettings::forceWeights

◆ gravity

eVector3 sobec::ModelMakerSettings::gravity = eVector3(0, 0, -9.81)

◆ height

double sobec::ModelMakerSettings::height = 0

◆ highKinematicLimits

Eigen::VectorXd sobec::ModelMakerSettings::highKinematicLimits

◆ lowKinematicLimits

Eigen::VectorXd sobec::ModelMakerSettings::lowKinematicLimits

◆ maxNforce

double sobec::ModelMakerSettings::maxNforce = 1200

◆ minNforce

double sobec::ModelMakerSettings::minNforce = 200.0

◆ mu

double sobec::ModelMakerSettings::mu = 0.3

◆ omega

double sobec::ModelMakerSettings::omega = -comHeight / gravity(2)

◆ stateWeights

Eigen::VectorXd sobec::ModelMakerSettings::stateWeights

◆ th_grad

double sobec::ModelMakerSettings::th_grad = 1e-9

◆ th_stop

double sobec::ModelMakerSettings::th_stop = 1e-6

◆ timeStep

double sobec::ModelMakerSettings::timeStep = 0.01

◆ wBaseRot

double sobec::ModelMakerSettings::wBaseRot = 0

◆ wColFeet

double sobec::ModelMakerSettings::wColFeet = 0

◆ wControlReg

double sobec::ModelMakerSettings::wControlReg = 0

◆ wCoP

double sobec::ModelMakerSettings::wCoP = 0

◆ wDCM

double sobec::ModelMakerSettings::wDCM = 0

◆ wFlyHigh

double sobec::ModelMakerSettings::wFlyHigh = 0

◆ wFootPlacement

double sobec::ModelMakerSettings::wFootPlacement = 0

◆ wFootRot

double sobec::ModelMakerSettings::wFootRot = 0

◆ wForceTask

double sobec::ModelMakerSettings::wForceTask = 0

◆ wGripperPos

double sobec::ModelMakerSettings::wGripperPos = 0

◆ wGripperRot

double sobec::ModelMakerSettings::wGripperRot = 0

◆ wGripperVel

double sobec::ModelMakerSettings::wGripperVel = 0

◆ width

double sobec::ModelMakerSettings::width = 0

◆ wLimit

double sobec::ModelMakerSettings::wLimit = 0

◆ wPCoM

double sobec::ModelMakerSettings::wPCoM = 0

◆ wStateReg

double sobec::ModelMakerSettings::wStateReg = 0

◆ wVCoM

double sobec::ModelMakerSettings::wVCoM = 0

◆ wVelFoot

double sobec::ModelMakerSettings::wVelFoot = 0

◆ wWrenchCone

double sobec::ModelMakerSettings::wWrenchCone = 0

The documentation for this struct was generated from the following file:

include/sobec/walk-with-traj/model_factory.hpp

Public Attributes