|
| bool | base_se3_to_sot (dynamicgraph::sot::ConstRefVector pos, dynamicgraph::sot::ConstRefMatrix R, dynamicgraph::sot::RefVector q_sot) |
| |
| bool | base_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf) |
| |
| bool | base_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot) |
| |
| bool | config_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf) |
| |
| bool | config_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot) |
| |
| bool | joints_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf) |
| |
| bool | joints_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot) |
| |
| bool | velocity_sot_to_urdf (dynamicgraph::sot::ConstRefVector v_sot, dynamicgraph::sot::RefVector v_urdf) |
| |
| bool | velocity_urdf_to_sot (dynamicgraph::sot::ConstRefVector v_urdf, dynamicgraph::sot::RefVector v_sot) |
| |
|
| const double | DEFAULT_MAX_CURRENT = 5 |
| | max joint position tracking error [rad] More...
|
| |
| const double | DEFAULT_MAX_DELTA_Q = 0.1 |
| |
| const double | IMU_XYZ [3] = { -0.13, 0.0, 0.118} |
| | max CURRENT (double in [0 Amp, 20 Amp]) More...
|
| |
| const double | LEFT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE = 0.65 |
| |
| const double | LEFT_FOOT_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.0} |
| |
| const double | LEFT_FOOT_SOLE_XYZ [3] = {0.0, 0.0, -0.107} |
| |
| const double | LEFT_HAND_FORCE_SENSOR_MASS_PERCENTAGE = 0.75 |
| |
| const double | LEFT_HAND_FORCE_SENSOR_XYZ [3] = {0.005, 0.0, -0.051} |
| |
| const double | LEFT_HAND_FORCE_SENSOR_Z_ROTATION = -0.5 * M_PI |
| |
| const double | LEFT_HAND_GRIPPER_XYZ [3] = {0.0, 0.0, 0.02025} |
| |
| const double | RIGHT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE = 0.65 |
| | Percentage of mass of the link that is measured by the F/T sensors. More...
|
| |
| const double | RIGHT_FOOT_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.0} |
| | Position of the force/torque sensors w.r.t. the frame of the hosting link. More...
|
| |
| const double | RIGHT_FOOT_SOLE_XYZ [3] = {0.0, 0.0, -0.107} |
| | Position of the foot soles w.r.t. the frame of the foot. More...
|
| |
| const double | RIGHT_HAND_FORCE_SENSOR_MASS_PERCENTAGE = 0.75 |
| |
| const double | RIGHT_HAND_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.051} |
| |
| const double | RIGHT_HAND_FORCE_SENSOR_Z_ROTATION = -0.5 * M_PI |
| | Rotation angle around Z axis of the force/torque sensors w.r.t. the frame of the hosting link. More...
|
| |
| const double | RIGHT_HAND_GRIPPER_XYZ [3] = {0.0, 0.0, -0.02875} |
| | Position of the hand grippers w.r.t. the frame of the hand. More...
|
| |
1.8.13