Parameters for AutoBalancer. More...
import"AutoBalancerService.idl";
Public Attributes | |
| sequence< DblSequence3 > | default_zmp_offsets |
| ZMP offset vectors[m] for rleg and lleg (<-please set by this order) More... | |
| double | move_base_gain |
| ControllerMode | controller_mode |
| UseForceMode | use_force_mode |
| boolean | graspless_manip_mode |
| string | graspless_manip_arm |
| DblArray3 | graspless_manip_p_gain |
| DblArray3 | graspless_manip_reference_trans_pos |
| DblArray4 | graspless_manip_reference_trans_rot |
| double | transition_time |
| Transition time [s] for start and stop AutoBalancer. More... | |
| double | zmp_transition_time |
| Transition time [s] for default_zmp_offsets. More... | |
| double | adjust_footstep_transition_time |
| Transition time [s] for adjust foot step. More... | |
| StrSequence | leg_names |
| boolean | has_ik_failed |
| Flag for inverse kinematics (IK). If true, IK has failed before. More... | |
| double | pos_ik_thre |
| IK position threshold [m]. More... | |
| double | rot_ik_thre |
| IK rotation threshold [rad]. More... | |
| boolean | is_hand_fix_mode |
| Flag for fix hand while walking. More... | |
| sequence< Footstep > | end_effector_list |
| GaitType | default_gait_type |
| Default GaitType. More... | |
| sequence< IKLimbParameters > | ik_limb_parameters |
| Sequence for all end-effectors' ik limb parameters. More... | |
| boolean | use_limb_stretch_avoidance |
| Whether change root link height for avoiding limb stretch. More... | |
| double | limb_stretch_avoidance_time_const |
| Limb stretch avoidance time constant [s]. More... | |
| DblArray2 | limb_stretch_avoidance_vlimit |
| Root link height change limitation for avoiding limb stretch [m/s] (lower, upper) More... | |
| sequence< double > | limb_length_margin |
| Sequence of limb length margin from max limb length [m]. More... | |
| string | additional_force_applied_link_name |
| Name of additional force applied link for MODE_REF_FORCE_WITH_FOOT for MODE_REF_FORCE_RFU_EXT_MOMENT. Additional force is applied to the point without force sensors, such as torso. More... | |
| DblArray3 | additional_force_applied_point_offset |
| Link local offset[m] of force applied point for MODE_REF_FORCE_WITH_FOOT. This is local value in the link frame specified by "additional_force_applied_link_name". Zero by default. More... | |
Detailed Description
Parameters for AutoBalancer.
Member Data Documentation
| string OpenHRP::AutoBalancerService::AutoBalancerParam::additional_force_applied_link_name |
Name of additional force applied link for MODE_REF_FORCE_WITH_FOOT for MODE_REF_FORCE_RFU_EXT_MOMENT. Additional force is applied to the point without force sensors, such as torso.
| DblArray3 OpenHRP::AutoBalancerService::AutoBalancerParam::additional_force_applied_point_offset |
Link local offset[m] of force applied point for MODE_REF_FORCE_WITH_FOOT. This is local value in the link frame specified by "additional_force_applied_link_name". Zero by default.
| double OpenHRP::AutoBalancerService::AutoBalancerParam::adjust_footstep_transition_time |
Transition time [s] for adjust foot step.
| ControllerMode OpenHRP::AutoBalancerService::AutoBalancerParam::controller_mode |
| GaitType OpenHRP::AutoBalancerService::AutoBalancerParam::default_gait_type |
Default GaitType.
| sequence<DblSequence3> OpenHRP::AutoBalancerService::AutoBalancerParam::default_zmp_offsets |
ZMP offset vectors[m] for rleg and lleg (<-please set by this order)
| sequence<Footstep> OpenHRP::AutoBalancerService::AutoBalancerParam::end_effector_list |
| string OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_arm |
| boolean OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_mode |
| DblArray3 OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_p_gain |
| DblArray3 OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_reference_trans_pos |
| DblArray4 OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_reference_trans_rot |
| boolean OpenHRP::AutoBalancerService::AutoBalancerParam::has_ik_failed |
Flag for inverse kinematics (IK). If true, IK has failed before.
| sequence<IKLimbParameters> OpenHRP::AutoBalancerService::AutoBalancerParam::ik_limb_parameters |
Sequence for all end-effectors' ik limb parameters.
| boolean OpenHRP::AutoBalancerService::AutoBalancerParam::is_hand_fix_mode |
Flag for fix hand while walking.
| StrSequence OpenHRP::AutoBalancerService::AutoBalancerParam::leg_names |
| sequence<double> OpenHRP::AutoBalancerService::AutoBalancerParam::limb_length_margin |
Sequence of limb length margin from max limb length [m].
| double OpenHRP::AutoBalancerService::AutoBalancerParam::limb_stretch_avoidance_time_const |
Limb stretch avoidance time constant [s].
| DblArray2 OpenHRP::AutoBalancerService::AutoBalancerParam::limb_stretch_avoidance_vlimit |
Root link height change limitation for avoiding limb stretch [m/s] (lower, upper)
| double OpenHRP::AutoBalancerService::AutoBalancerParam::move_base_gain |
| double OpenHRP::AutoBalancerService::AutoBalancerParam::pos_ik_thre |
IK position threshold [m].
| double OpenHRP::AutoBalancerService::AutoBalancerParam::rot_ik_thre |
IK rotation threshold [rad].
| double OpenHRP::AutoBalancerService::AutoBalancerParam::transition_time |
Transition time [s] for start and stop AutoBalancer.
| UseForceMode OpenHRP::AutoBalancerService::AutoBalancerParam::use_force_mode |
| boolean OpenHRP::AutoBalancerService::AutoBalancerParam::use_limb_stretch_avoidance |
Whether change root link height for avoiding limb stretch.
| double OpenHRP::AutoBalancerService::AutoBalancerParam::zmp_transition_time |
Transition time [s] for default_zmp_offsets.
The documentation for this struct was generated from the following file:
