ReferenceForceUpdater Parameters. More...

import"ReferenceForceUpdaterService.idl";

Collaboration diagram for OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam:

Public Attributes
DblSequence3	motion_dir
	Motion direction to update reference force. More...

string	frame
	frame of motion_dir ("local" or "world"). More...

double	update_freq
	Update frequency [Hz]. More...

double	update_time_ratio
	Update time ratio [0,1]. More...

double	p_gain
	P gain. More...

double	d_gain
	D gain. More...

double	i_gain
	I gain. More...

boolean	is_hold_value
	Hold current value or not. If is_hold_value is true, do not update value, otherwise, update value. More...

Detailed Description

ReferenceForceUpdater Parameters.

Member Data Documentation

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::d_gain

D gain.

string OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::frame

frame of motion_dir ("local" or "world").

"local" is coordinate at end effector, and "world" is the coordinate between the feet.

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::i_gain

I gain.

boolean OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::is_hold_value

Hold current value or not. If is_hold_value is true, do not update value, otherwise, update value.

DblSequence3 OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::motion_dir

Motion direction to update reference force.

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::p_gain

P gain.

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_freq

Update frequency [Hz].

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_time_ratio

Update time ratio [0,1].

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