ObjectTurnaroundDetectorParam parameters. More...

import"ImpedanceControllerService.idl";

Public Attributes
double	wrench_cutoff_freq
	Cutoff frequence for wrench value [Hz]. More...

double	dwrench_cutoff_freq
	Cutoff frequence for dwrench value [Hz]. More...

double	detect_ratio_thre
	Threshould for detection (0,1) More...

double	start_ratio_thre
	Threshould for starting detection (0,1) More...

double	detect_time_thre
	Threshould for time [s] after the first object turnaround detection (Wait detect_time_thre [s] after first object turnaround detection). More...

double	start_time_thre
	Threshould for time [s] after the first starting detection (Wait start_time_thre [s] after first start detection). More...

DblArray3	axis
	Axis. More...

DblArray3	moment_center
	Moment center [m] from foot mid frame (middle frame of rleg and lleg) More...

DetectorTotalWrench	detector_total_wrench
	Current flag for whether total force or total moment is checked. More...

Detailed Description

ObjectTurnaroundDetectorParam parameters.

Member Data Documentation

DblArray3 OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::axis

Axis.

double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::detect_ratio_thre

Threshould for detection (0,1)

double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::detect_time_thre

Threshould for time [s] after the first object turnaround detection (Wait detect_time_thre [s] after first object turnaround detection).

DetectorTotalWrench OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::detector_total_wrench

Current flag for whether total force or total moment is checked.

double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::dwrench_cutoff_freq

Cutoff frequence for dwrench value [Hz].

DblArray3 OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::moment_center

Moment center [m] from foot mid frame (middle frame of rleg and lleg)

double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::start_ratio_thre

Threshould for starting detection (0,1)

double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::start_time_thre

Threshould for time [s] after the first starting detection (Wait start_time_thre [s] after first start detection).

double OpenHRP::ImpedanceControllerService::objectTurnaroundDetectorParam::wrench_cutoff_freq

Cutoff frequence for wrench value [Hz].

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