Classes | Public Member Functions | Protected Attributes | Private Types | Private Attributes
Stabilizer Class Reference

sample RT component which has one data input port and one data output port More...

#include <Stabilizer.h>

Inheritance diagram for Stabilizer:
Inheritance graph
[legend]

List of all members.

Classes

struct  STIKParam

Public Member Functions

void calcContactMatrix (hrp::dmatrix &tm, const std::vector< hrp::Vector3 > &contact_p)
double calcDampingControl (const double tau_d, const double tau, const double prev_d, const double DD, const double TT)
hrp::Vector3 calcDampingControl (const hrp::Vector3 &prev_d, const hrp::Vector3 &TT)
double calcDampingControl (const double prev_d, const double TT)
hrp::Vector3 calcDampingControl (const hrp::Vector3 &tau_d, const hrp::Vector3 &tau, const hrp::Vector3 &prev_d, const hrp::Vector3 &DD, const hrp::Vector3 &TT)
void calcDiffFootOriginExtMoment ()
void calcEEForceMomentControl ()
void calcFootOriginCoords (hrp::Vector3 &foot_origin_pos, hrp::Matrix33 &foot_origin_rot)
int calcMaxTransitionCount ()
void calcRUNST ()
void calcStateForEmergencySignal ()
void calcSwingEEModification ()
void calcSwingSupportLimbGain ()
void calcTorque ()
void calcTPCC ()
bool calcZMP (hrp::Vector3 &ret_zmp, const double zmp_z)
void fixLegToCoords (const std::string &leg, const rats::coordinates &coords)
void getActualParameters ()
void getCurrentParameters ()
void getFootmidCoords (rats::coordinates &ret)
void getParameter (OpenHRP::StabilizerService::stParam &i_stp)
std::string getStabilizerAlgorithmString (OpenHRP::StabilizerService::STAlgorithm _st_algorithm)
void getTargetParameters ()
bool isContact (const size_t idx)
void limbStretchAvoidanceControl (const std::vector< hrp::Vector3 > &ee_p, const std::vector< hrp::Matrix33 > &ee_R)
void moveBasePosRotForBodyRPYControl ()
virtual RTC::ReturnCode_t onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onDeactivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onFinalize ()
virtual RTC::ReturnCode_t onInitialize ()
void setBoolSequenceParam (std::vector< bool > &st_bool_values, const OpenHRP::StabilizerService::BoolSequence &output_bool_values, const std::string &prop_name)
void setBoolSequenceParamWithCheckContact (std::vector< bool > &st_bool_values, const OpenHRP::StabilizerService::BoolSequence &output_bool_values, const std::string &prop_name)
void setParameter (const OpenHRP::StabilizerService::stParam &i_stp)
 Stabilizer (RTC::Manager *manager)
 Constructor.
void startStabilizer (void)
void stopStabilizer (void)
void sync_2_idle ()
void sync_2_st ()
double vlimit (double value, double llimit_value, double ulimit_value)
hrp::Vector3 vlimit (const hrp::Vector3 &value, double llimit_value, double ulimit_value)
hrp::Vector3 vlimit (const hrp::Vector3 &value, const hrp::Vector3 &limit_value)
hrp::Vector3 vlimit (const hrp::Vector3 &value, const hrp::Vector3 &llimit_value, const hrp::Vector3 &ulimit_value)
void waitSTTransition ()
virtual ~Stabilizer ()
 Destructor.

Protected Attributes

RTC::TimedOrientation3D m_actBaseRpy
RTC::OutPort
< RTC::TimedOrientation3D > 
m_actBaseRpyOut
RTC::TimedBooleanSeq m_actContactStates
RTC::OutPort
< RTC::TimedBooleanSeq > 
m_actContactStatesOut
RTC::TimedPoint3D m_actCP
RTC::OutPort< RTC::TimedPoint3D > m_actCPOut
RTC::TimedDoubleSeq m_allEEComp
RTC::OutPort< RTC::TimedDoubleSeq > m_allEECompOut
RTC::TimedDoubleSeq m_allRefWrench
RTC::OutPort< RTC::TimedDoubleSeq > m_allRefWrenchOut
RTC::TimedPoint3D m_basePos
RTC::InPort< RTC::TimedPoint3D > m_basePosIn
RTC::TimedOrientation3D m_baseRpy
RTC::InPort
< RTC::TimedOrientation3D > 
m_baseRpyIn
RTC::TimedBooleanSeq m_contactStates
RTC::InPort< RTC::TimedBooleanSeq > m_contactStatesIn
RTC::TimedDoubleSeq m_controlSwingSupportTime
RTC::InPort< RTC::TimedDoubleSeq > m_controlSwingSupportTimeIn
RTC::TimedDoubleSeq m_COPInfo
RTC::OutPort< RTC::TimedDoubleSeq > m_COPInfoOut
RTC::TimedPoint3D m_currentBasePos
RTC::OutPort< RTC::TimedPoint3D > m_currentBasePosOut
RTC::TimedOrientation3D m_currentBaseRpy
RTC::OutPort
< RTC::TimedOrientation3D > 
m_currentBaseRpyOut
RTC::TimedDoubleSeq m_debugData
RTC::OutPort< RTC::TimedDoubleSeq > m_debugDataOut
RTC::TimedPoint3D m_diffCP
RTC::OutPort< RTC::TimedPoint3D > m_diffCPOut
RTC::TimedPoint3D m_diffFootOriginExtMoment
RTC::OutPort< RTC::TimedPoint3D > m_diffFootOriginExtMomentOut
RTC::TimedLong m_emergencySignal
RTC::OutPort< RTC::TimedLong > m_emergencySignalOut
std::vector< RTC::TimedPoint3D > m_limbCOPOffset
std::vector< RTC::InPort
< RTC::TimedPoint3D > * > 
m_limbCOPOffsetIn
RTC::TimedPoint3D m_originActCog
RTC::OutPort< RTC::TimedPoint3D > m_originActCogOut
RTC::TimedPoint3D m_originActCogVel
RTC::OutPort< RTC::TimedPoint3D > m_originActCogVelOut
RTC::TimedPoint3D m_originActZmp
RTC::OutPort< RTC::TimedPoint3D > m_originActZmpOut
RTC::TimedPoint3D m_originNewZmp
RTC::OutPort< RTC::TimedPoint3D > m_originNewZmpOut
RTC::TimedPoint3D m_originRefCog
RTC::OutPort< RTC::TimedPoint3D > m_originRefCogOut
RTC::TimedPoint3D m_originRefCogVel
RTC::OutPort< RTC::TimedPoint3D > m_originRefCogVelOut
RTC::TimedPoint3D m_originRefZmp
RTC::OutPort< RTC::TimedPoint3D > m_originRefZmpOut
RTC::TimedDoubleSeq m_qCurrent
RTC::InPort< RTC::TimedDoubleSeq > m_qCurrentIn
RTC::TimedDoubleSeq m_qRef
RTC::InPort< RTC::TimedDoubleSeq > m_qRefIn
RTC::OutPort< RTC::TimedDoubleSeq > m_qRefOut
RTC::TimedDoubleSeq m_qRefSeq
RTC::InPort< RTC::TimedDoubleSeq > m_qRefSeqIn
std::vector< RTC::TimedDoubleSeq > m_ref_wrenches
std::vector< RTC::InPort
< RTC::TimedDoubleSeq > * > 
m_ref_wrenchesIn
RTC::TimedPoint3D m_refCP
RTC::OutPort< RTC::TimedPoint3D > m_refCPOut
RTC::TimedOrientation3D m_rpy
RTC::InPort
< RTC::TimedOrientation3D > 
m_rpyIn
RTC::TimedPoint3D m_sbpCogOffset
RTC::InPort< RTC::TimedPoint3D > m_sbpCogOffsetIn
StabilizerService_impl m_service0
RTC::CorbaPort m_StabilizerServicePort
RTC::TimedDoubleSeq m_tau
RTC::OutPort< RTC::TimedDoubleSeq > m_tauOut
RTC::TimedDoubleSeq m_toeheelRatio
RTC::InPort< RTC::TimedDoubleSeq > m_toeheelRatioIn
RTC::TimedBoolean m_walkingStates
RTC::InPort< RTC::TimedBoolean > m_walkingStatesIn
std::vector< RTC::TimedDoubleSeq > m_wrenches
std::vector< RTC::InPort
< RTC::TimedDoubleSeq > * > 
m_wrenchesIn
RTC::TimedPoint3D m_zmp
RTC::OutPort< RTC::TimedPoint3D > m_zmpOut
RTC::TimedPoint3D m_zmpRef
RTC::InPort< RTC::TimedPoint3D > m_zmpRefIn

Private Types

enum  cmode {
  MODE_IDLE, MODE_AIR, MODE_ST, MODE_SYNC_TO_IDLE,
  MODE_SYNC_TO_AIR
}

Private Attributes

hrp::Vector3 act_base_rpy
hrp::Vector3 act_cog
hrp::Vector3 act_cogvel
boost::shared_ptr
< FirstOrderLowPassFilter
< hrp::Vector3 > > 
act_cogvel_filter
std::vector< bool > act_contact_states
hrp::Vector3 act_cp
std::vector< hrp::Vector3act_ee_p
std::vector< hrp::Matrix33act_ee_R
std::vector< hrp::Vector3act_force
hrp::Vector3 act_total_foot_origin_moment
hrp::Vector3 act_zmp
double contact_decision_threshold
std::map< std::string, size_t > contact_states_index_map
enum Stabilizer::cmode control_mode
double cop_check_margin
std::vector< double > cp_check_margin
hrp::Vector3 cp_offset
hrp::Vector3 current_base_pos
hrp::Vector3 current_base_rpy
hrp::Vector3 current_root_p
hrp::Matrix33 current_root_R
double d_pos_z_root
double d_rpy [2]
double d_run_b [2]
int detection_count_to_air
hrp::Vector3 diff_cp
hrp::Vector3 diff_foot_origin_ext_moment
double dt
double eefm_body_attitude_control_gain [2]
double eefm_body_attitude_control_time_const [2]
double eefm_gravitational_acceleration
double eefm_k1 [2]
double eefm_k2 [2]
double eefm_k3 [2]
double eefm_pos_margin_time
double eefm_pos_time_const_swing
double eefm_pos_transition_time
std::vector< double > eefm_swing_damping_force_thre
std::vector< double > eefm_swing_damping_moment_thre
hrp::Vector3 eefm_swing_pos_damping_gain
hrp::Vector3 eefm_swing_rot_damping_gain
bool eefm_use_force_difference_control
bool eefm_use_swing_damping
double eefm_zmp_delay_time_const [2]
OpenHRP::StabilizerService::EmergencyCheckMode emergency_check_mode
hrp::Vector3 foot_origin_offset [2]
bool initial_cp_too_large_error
int is_air_counter
bool is_emergency
bool is_estop_while_walking
std::vector< bool > is_feedback_control_enable
std::vector< bool > is_ik_enable
bool is_legged_robot
bool is_seq_interpolating
bool is_walking
std::vector< bool > is_zmp_calc_enable
std::vector< hrp::JointPathExPtr > jpe_v
double k_brot_p [2]
double k_brot_tc [2]
double k_run_b [2]
double k_tpcc_p [2]
double k_tpcc_x [2]
double limb_stretch_avoidance_time_const
double limb_stretch_avoidance_vlimit [2]
int loop
unsigned int m_debugLevel
TwoDofController m_f_z
int m_is_falling_counter
coil::Mutex m_mutex
hrp::BodyPtr m_robot
TwoDofController m_tau_x [2]
TwoDofController m_tau_y [2]
double m_torque_d [2]
double m_torque_k [2]
std::map< std::string,
hrp::VirtualForceSensorParam
m_vfs
std::vector< intm_will_fall_counter
std::vector< std::vector
< Eigen::Vector2d > > 
margined_support_polygon_vetices
hrp::Vector3 new_refzmp
bool on_ground
double pangx
double pangx_ref
double pangy
double pangy_ref
hrp::Vector3 pdr
hrp::Vector3 pos_ctrl
hrp::Vector3 prev_act_cog
hrp::Matrix33 prev_act_foot_origin_rot
std::vector< double > prev_act_force_z
hrp::Vector3 prev_ref_cog
std::vector< bool > prev_ref_contact_states
hrp::Matrix33 prev_ref_foot_origin_rot
hrp::Vector3 prev_ref_zmp
std::vector< hrp::Vector3projected_normal
hrp::dvector qorg
hrp::dvector qrefv
double rdx
double rdy
hrp::Vector3 ref_cog
hrp::Vector3 ref_cogvel
std::vector< bool > ref_contact_states
hrp::Vector3 ref_cp
hrp::Matrix33 ref_foot_origin_rot
std::vector< hrp::Vector3ref_force
std::vector< hrp::Vector3ref_moment
hrp::Vector3 ref_total_foot_origin_moment
hrp::Vector3 ref_total_force
hrp::Vector3 ref_total_moment
hrp::Vector3 ref_zmp
hrp::Vector3 ref_zmp_aux
hrp::Vector3 rel_act_cp
hrp::Vector3 rel_act_zmp
hrp::Vector3 rel_cog
std::vector< std::string > rel_ee_name
std::vector< hrp::Vector3rel_ee_pos
std::vector< hrp::Matrix33rel_ee_rot
hrp::Vector3 rel_ref_cp
bool reset_emergency_flag
double root_rot_compensation_limit [2]
double rx
double ry
hrp::Vector3 sbp_cog_offset
OpenHRP::StabilizerService::STAlgorithm st_algorithm
std::vector< STIKParamstikp
std::vector< std::vector
< Eigen::Vector2d > > 
support_polygon_vetices
SimpleZMPDistributorszd
std::vector< hrp::Vector3target_ee_p
std::vector< hrp::Matrix33target_ee_R
rats::coordinates target_foot_midcoords
hrp::Matrix33 target_foot_origin_rot
hrp::Vector3 target_root_p
hrp::Matrix33 target_root_R
std::vector< double > tilt_margin
std::vector< double > toeheel_ratio
double total_mass
int transition_count
hrp::dvector transition_joint_q
double transition_smooth_gain
double transition_time
bool use_limb_stretch_avoidance
bool use_zmp_truncation
double zmp_origin_off

Detailed Description

sample RT component which has one data input port and one data output port

Definition at line 44 of file Stabilizer.h.


Member Enumeration Documentation

enum Stabilizer::cmode [private]
Enumerator:
MODE_IDLE 
MODE_AIR 
MODE_ST 
MODE_SYNC_TO_IDLE 
MODE_SYNC_TO_AIR 

Definition at line 281 of file Stabilizer.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 61 of file Stabilizer.cpp.

Stabilizer::~Stabilizer ( ) [virtual]

Destructor.

Definition at line 111 of file Stabilizer.cpp.


Member Function Documentation

void Stabilizer::calcContactMatrix ( hrp::dmatrix tm,
const std::vector< hrp::Vector3 > &  contact_p 
)

Definition at line 2731 of file Stabilizer.cpp.

double Stabilizer::calcDampingControl ( const double  tau_d,
const double  tau,
const double  prev_d,
const double  DD,
const double  TT 
)

Definition at line 1731 of file Stabilizer.cpp.

Definition at line 1738 of file Stabilizer.cpp.

double Stabilizer::calcDampingControl ( const double  prev_d,
const double  TT 
)

Definition at line 1744 of file Stabilizer.cpp.

Definition at line 1749 of file Stabilizer.cpp.

Definition at line 1755 of file Stabilizer.cpp.

Definition at line 1548 of file Stabilizer.cpp.

void Stabilizer::calcFootOriginCoords ( hrp::Vector3 foot_origin_pos,
hrp::Matrix33 foot_origin_rot 
)

Definition at line 768 of file Stabilizer.cpp.

Definition at line 149 of file Stabilizer.h.

Definition at line 2546 of file Stabilizer.cpp.

Definition at line 1317 of file Stabilizer.cpp.

Definition at line 1661 of file Stabilizer.cpp.

Definition at line 1468 of file Stabilizer.cpp.

Definition at line 2744 of file Stabilizer.cpp.

Definition at line 1504 of file Stabilizer.cpp.

bool Stabilizer::calcZMP ( hrp::Vector3 ret_zmp,
const double  zmp_z 
)

Definition at line 1276 of file Stabilizer.cpp.

void Stabilizer::fixLegToCoords ( const std::string &  leg,
const rats::coordinates coords 
)

Definition at line 799 of file Stabilizer.cpp.

Definition at line 759 of file Stabilizer.cpp.

void Stabilizer::getParameter ( OpenHRP::StabilizerService::stParam &  i_stp)

Definition at line 1881 of file Stabilizer.cpp.

std::string Stabilizer::getStabilizerAlgorithmString ( OpenHRP::StabilizerService::STAlgorithm  _st_algorithm)

Definition at line 2371 of file Stabilizer.cpp.

Definition at line 1158 of file Stabilizer.cpp.

bool Stabilizer::isContact ( const size_t  idx) [inline]

Definition at line 145 of file Stabilizer.h.

void Stabilizer::limbStretchAvoidanceControl ( const std::vector< hrp::Vector3 > &  ee_p,
const std::vector< hrp::Matrix33 > &  ee_R 
)

Definition at line 1704 of file Stabilizer.cpp.

Definition at line 1441 of file Stabilizer.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 528 of file Stabilizer.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 534 of file Stabilizer.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 548 of file Stabilizer.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 505 of file Stabilizer.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 115 of file Stabilizer.cpp.

void Stabilizer::setBoolSequenceParam ( std::vector< bool > &  st_bool_values,
const OpenHRP::StabilizerService::BoolSequence &  output_bool_values,
const std::string &  prop_name 
)

Definition at line 2389 of file Stabilizer.cpp.

void Stabilizer::setBoolSequenceParamWithCheckContact ( std::vector< bool > &  st_bool_values,
const OpenHRP::StabilizerService::BoolSequence &  output_bool_values,
const std::string &  prop_name 
)

Definition at line 2418 of file Stabilizer.cpp.

void Stabilizer::setParameter ( const OpenHRP::StabilizerService::stParam &  i_stp)

Definition at line 2069 of file Stabilizer.cpp.

Definition at line 1853 of file Stabilizer.cpp.

Definition at line 1867 of file Stabilizer.cpp.

Definition at line 1843 of file Stabilizer.cpp.

Definition at line 1815 of file Stabilizer.cpp.

double Stabilizer::vlimit ( double  value,
double  llimit_value,
double  ulimit_value 
)

Definition at line 2477 of file Stabilizer.cpp.

hrp::Vector3 Stabilizer::vlimit ( const hrp::Vector3 value,
double  llimit_value,
double  ulimit_value 
)

Definition at line 2487 of file Stabilizer.cpp.

Definition at line 2502 of file Stabilizer.cpp.

hrp::Vector3 Stabilizer::vlimit ( const hrp::Vector3 value,
const hrp::Vector3 llimit_value,
const hrp::Vector3 ulimit_value 
)

Definition at line 2517 of file Stabilizer.cpp.

Definition at line 2463 of file Stabilizer.cpp.


Member Data Documentation

Definition at line 307 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 311 of file Stabilizer.h.

std::vector<bool> Stabilizer::act_contact_states [private]

Definition at line 291 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

std::vector<hrp::Vector3> Stabilizer::act_ee_p [private]

Definition at line 302 of file Stabilizer.h.

std::vector<hrp::Matrix33> Stabilizer::act_ee_R [private]

Definition at line 303 of file Stabilizer.h.

std::vector<hrp::Vector3> Stabilizer::act_force [private]

Definition at line 302 of file Stabilizer.h.

Definition at line 332 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 334 of file Stabilizer.h.

std::map<std::string, size_t> Stabilizer::contact_states_index_map [private]

Definition at line 290 of file Stabilizer.h.

double Stabilizer::cop_check_margin [private]

Definition at line 334 of file Stabilizer.h.

std::vector<double> Stabilizer::cp_check_margin [private]

Definition at line 335 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 300 of file Stabilizer.h.

Definition at line 301 of file Stabilizer.h.

double Stabilizer::d_pos_z_root [private]

Definition at line 310 of file Stabilizer.h.

double Stabilizer::d_rpy[2] [private]

Definition at line 316 of file Stabilizer.h.

double Stabilizer::d_run_b[2] [private]

Definition at line 322 of file Stabilizer.h.

Definition at line 297 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 328 of file Stabilizer.h.

double Stabilizer::dt [private]

Definition at line 293 of file Stabilizer.h.

Definition at line 325 of file Stabilizer.h.

Definition at line 325 of file Stabilizer.h.

Definition at line 326 of file Stabilizer.h.

double Stabilizer::eefm_k1[2] [private]

Definition at line 325 of file Stabilizer.h.

double Stabilizer::eefm_k2[2] [private]

Definition at line 325 of file Stabilizer.h.

double Stabilizer::eefm_k3[2] [private]

Definition at line 325 of file Stabilizer.h.

Definition at line 326 of file Stabilizer.h.

Definition at line 326 of file Stabilizer.h.

Definition at line 326 of file Stabilizer.h.

std::vector<double> Stabilizer::eefm_swing_damping_force_thre [private]

Definition at line 327 of file Stabilizer.h.

std::vector<double> Stabilizer::eefm_swing_damping_moment_thre [private]

Definition at line 327 of file Stabilizer.h.

Definition at line 333 of file Stabilizer.h.

Definition at line 333 of file Stabilizer.h.

Definition at line 298 of file Stabilizer.h.

Definition at line 298 of file Stabilizer.h.

Definition at line 325 of file Stabilizer.h.

OpenHRP::StabilizerService::EmergencyCheckMode Stabilizer::emergency_check_mode [private]

Definition at line 336 of file Stabilizer.h.

Definition at line 308 of file Stabilizer.h.

Definition at line 298 of file Stabilizer.h.

Definition at line 297 of file Stabilizer.h.

bool Stabilizer::is_emergency [private]

Definition at line 298 of file Stabilizer.h.

Definition at line 299 of file Stabilizer.h.

std::vector<bool> Stabilizer::is_feedback_control_enable [private]

Definition at line 291 of file Stabilizer.h.

std::vector<bool> Stabilizer::is_ik_enable [private]

Definition at line 291 of file Stabilizer.h.

Definition at line 298 of file Stabilizer.h.

Definition at line 298 of file Stabilizer.h.

bool Stabilizer::is_walking [private]

Definition at line 299 of file Stabilizer.h.

std::vector<bool> Stabilizer::is_zmp_calc_enable [private]

Definition at line 291 of file Stabilizer.h.

std::vector<hrp::JointPathExPtr> Stabilizer::jpe_v [private]

Definition at line 284 of file Stabilizer.h.

double Stabilizer::k_brot_p[2] [private]

Definition at line 316 of file Stabilizer.h.

double Stabilizer::k_brot_tc[2] [private]

Definition at line 316 of file Stabilizer.h.

double Stabilizer::k_run_b[2] [private]

Definition at line 322 of file Stabilizer.h.

double Stabilizer::k_tpcc_p[2] [private]

Definition at line 316 of file Stabilizer.h.

double Stabilizer::k_tpcc_x[2] [private]

Definition at line 316 of file Stabilizer.h.

Definition at line 310 of file Stabilizer.h.

Definition at line 310 of file Stabilizer.h.

int Stabilizer::loop [private]

Definition at line 294 of file Stabilizer.h.

RTC::TimedOrientation3D Stabilizer::m_actBaseRpy [protected]

Definition at line 185 of file Stabilizer.h.

RTC::OutPort<RTC::TimedOrientation3D> Stabilizer::m_actBaseRpyOut [protected]

Definition at line 230 of file Stabilizer.h.

RTC::TimedBooleanSeq Stabilizer::m_actContactStates [protected]

Definition at line 176 of file Stabilizer.h.

RTC::OutPort<RTC::TimedBooleanSeq> Stabilizer::m_actContactStatesOut [protected]

Definition at line 224 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_actCP [protected]

Definition at line 167 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_actCPOut [protected]

Definition at line 221 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_allEEComp [protected]

Definition at line 189 of file Stabilizer.h.

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_allEECompOut [protected]

Definition at line 234 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_allRefWrench [protected]

Definition at line 188 of file Stabilizer.h.

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_allRefWrenchOut [protected]

Definition at line 233 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_basePos [protected]

Definition at line 170 of file Stabilizer.h.

RTC::InPort<RTC::TimedPoint3D> Stabilizer::m_basePosIn [protected]

Definition at line 198 of file Stabilizer.h.

RTC::TimedOrientation3D Stabilizer::m_baseRpy [protected]

Definition at line 171 of file Stabilizer.h.

RTC::InPort<RTC::TimedOrientation3D> Stabilizer::m_baseRpyIn [protected]

Definition at line 199 of file Stabilizer.h.

RTC::TimedBooleanSeq Stabilizer::m_contactStates [protected]

Definition at line 172 of file Stabilizer.h.

RTC::InPort<RTC::TimedBooleanSeq> Stabilizer::m_contactStatesIn [protected]

Definition at line 200 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_controlSwingSupportTime [protected]

Definition at line 174 of file Stabilizer.h.

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_controlSwingSupportTimeIn [protected]

Definition at line 202 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_COPInfo [protected]

Definition at line 177 of file Stabilizer.h.

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_COPInfoOut [protected]

Definition at line 225 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_currentBasePos [protected]

Definition at line 186 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_currentBasePosOut [protected]

Definition at line 231 of file Stabilizer.h.

RTC::TimedOrientation3D Stabilizer::m_currentBaseRpy [protected]

Definition at line 187 of file Stabilizer.h.

RTC::OutPort<RTC::TimedOrientation3D> Stabilizer::m_currentBaseRpyOut [protected]

Definition at line 232 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_debugData [protected]

Definition at line 190 of file Stabilizer.h.

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_debugDataOut [protected]

Definition at line 235 of file Stabilizer.h.

unsigned int Stabilizer::m_debugLevel [private]

Definition at line 287 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_diffCP [protected]

Definition at line 168 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_diffCPOut [protected]

Definition at line 222 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_diffFootOriginExtMoment [protected]

Definition at line 169 of file Stabilizer.h.

Definition at line 223 of file Stabilizer.h.

RTC::TimedLong Stabilizer::m_emergencySignal [protected]

Definition at line 178 of file Stabilizer.h.

RTC::OutPort<RTC::TimedLong> Stabilizer::m_emergencySignalOut [protected]

Definition at line 226 of file Stabilizer.h.

Definition at line 318 of file Stabilizer.h.

Definition at line 295 of file Stabilizer.h.

std::vector<RTC::TimedPoint3D> Stabilizer::m_limbCOPOffset [protected]

Definition at line 175 of file Stabilizer.h.

std::vector<RTC::InPort<RTC::TimedPoint3D> *> Stabilizer::m_limbCOPOffsetIn [protected]

Definition at line 203 of file Stabilizer.h.

Definition at line 286 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_originActCog [protected]

Definition at line 184 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originActCogOut [protected]

Definition at line 229 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_originActCogVel [protected]

Definition at line 184 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originActCogVelOut [protected]

Definition at line 229 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_originActZmp [protected]

Definition at line 184 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originActZmpOut [protected]

Definition at line 229 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_originNewZmp [protected]

Definition at line 183 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originNewZmpOut [protected]

Definition at line 228 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_originRefCog [protected]

Definition at line 183 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originRefCogOut [protected]

Definition at line 228 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_originRefCogVel [protected]

Definition at line 183 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originRefCogVelOut [protected]

Definition at line 228 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_originRefZmp [protected]

Definition at line 183 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originRefZmpOut [protected]

Definition at line 228 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_qCurrent [protected]

Definition at line 160 of file Stabilizer.h.

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_qCurrentIn [protected]

Definition at line 194 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_qRef [protected]

Definition at line 161 of file Stabilizer.h.

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_qRefIn [protected]

Definition at line 195 of file Stabilizer.h.

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_qRefOut [protected]

Definition at line 217 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_qRefSeq [protected]

Definition at line 179 of file Stabilizer.h.

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_qRefSeqIn [protected]

Definition at line 204 of file Stabilizer.h.

std::vector<RTC::TimedDoubleSeq> Stabilizer::m_ref_wrenches [protected]

Definition at line 210 of file Stabilizer.h.

std::vector<RTC::InPort<RTC::TimedDoubleSeq> *> Stabilizer::m_ref_wrenchesIn [protected]

Definition at line 211 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_refCP [protected]

Definition at line 166 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_refCPOut [protected]

Definition at line 220 of file Stabilizer.h.

Definition at line 285 of file Stabilizer.h.

RTC::TimedOrientation3D Stabilizer::m_rpy [protected]

Definition at line 163 of file Stabilizer.h.

RTC::InPort<RTC::TimedOrientation3D> Stabilizer::m_rpyIn [protected]

Definition at line 196 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_sbpCogOffset [protected]

Definition at line 181 of file Stabilizer.h.

RTC::InPort<RTC::TimedPoint3D> Stabilizer::m_sbpCogOffsetIn [protected]

Definition at line 206 of file Stabilizer.h.

Definition at line 252 of file Stabilizer.h.

Definition at line 246 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_tau [protected]

Definition at line 162 of file Stabilizer.h.

Definition at line 318 of file Stabilizer.h.

Definition at line 318 of file Stabilizer.h.

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_tauOut [protected]

Definition at line 218 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_toeheelRatio [protected]

Definition at line 173 of file Stabilizer.h.

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_toeheelRatioIn [protected]

Definition at line 201 of file Stabilizer.h.

double Stabilizer::m_torque_d[2] [private]

Definition at line 320 of file Stabilizer.h.

double Stabilizer::m_torque_k[2] [private]

Definition at line 320 of file Stabilizer.h.

std::map<std::string, hrp::VirtualForceSensorParam> Stabilizer::m_vfs [private]

Definition at line 283 of file Stabilizer.h.

RTC::TimedBoolean Stabilizer::m_walkingStates [protected]

Definition at line 180 of file Stabilizer.h.

RTC::InPort<RTC::TimedBoolean> Stabilizer::m_walkingStatesIn [protected]

Definition at line 205 of file Stabilizer.h.

std::vector<int> Stabilizer::m_will_fall_counter [private]

Definition at line 296 of file Stabilizer.h.

std::vector<RTC::TimedDoubleSeq> Stabilizer::m_wrenches [protected]

Definition at line 208 of file Stabilizer.h.

std::vector<RTC::InPort<RTC::TimedDoubleSeq> *> Stabilizer::m_wrenchesIn [protected]

Definition at line 209 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_zmp [protected]

Definition at line 165 of file Stabilizer.h.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_zmpOut [protected]

Definition at line 219 of file Stabilizer.h.

RTC::TimedPoint3D Stabilizer::m_zmpRef [protected]

Definition at line 164 of file Stabilizer.h.

RTC::InPort<RTC::TimedPoint3D> Stabilizer::m_zmpRefIn [protected]

Definition at line 197 of file Stabilizer.h.

std::vector<std::vector<Eigen::Vector2d> > Stabilizer::margined_support_polygon_vetices [private]

Definition at line 314 of file Stabilizer.h.

Definition at line 328 of file Stabilizer.h.

bool Stabilizer::on_ground [private]

Definition at line 298 of file Stabilizer.h.

double Stabilizer::pangx [private]

Definition at line 321 of file Stabilizer.h.

double Stabilizer::pangx_ref [private]

Definition at line 321 of file Stabilizer.h.

double Stabilizer::pangy [private]

Definition at line 321 of file Stabilizer.h.

double Stabilizer::pangy_ref [private]

Definition at line 321 of file Stabilizer.h.

Definition at line 319 of file Stabilizer.h.

Definition at line 329 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 301 of file Stabilizer.h.

std::vector<double> Stabilizer::prev_act_force_z [private]

Definition at line 309 of file Stabilizer.h.

Definition at line 306 of file Stabilizer.h.

std::vector<bool> Stabilizer::prev_ref_contact_states [private]

Definition at line 291 of file Stabilizer.h.

Definition at line 301 of file Stabilizer.h.

Definition at line 306 of file Stabilizer.h.

Definition at line 302 of file Stabilizer.h.

Definition at line 288 of file Stabilizer.h.

Definition at line 288 of file Stabilizer.h.

double Stabilizer::rdx [private]

Definition at line 323 of file Stabilizer.h.

double Stabilizer::rdy [private]

Definition at line 323 of file Stabilizer.h.

Definition at line 306 of file Stabilizer.h.

Definition at line 306 of file Stabilizer.h.

std::vector<bool> Stabilizer::ref_contact_states [private]

Definition at line 291 of file Stabilizer.h.

Definition at line 306 of file Stabilizer.h.

Definition at line 301 of file Stabilizer.h.

std::vector<hrp::Vector3> Stabilizer::ref_force [private]

Definition at line 302 of file Stabilizer.h.

std::vector<hrp::Vector3> Stabilizer::ref_moment [private]

Definition at line 302 of file Stabilizer.h.

Definition at line 332 of file Stabilizer.h.

Definition at line 330 of file Stabilizer.h.

Definition at line 330 of file Stabilizer.h.

Definition at line 306 of file Stabilizer.h.

Definition at line 328 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

Definition at line 328 of file Stabilizer.h.

std::vector<std::string> Stabilizer::rel_ee_name [private]

Definition at line 304 of file Stabilizer.h.

std::vector<hrp::Vector3> Stabilizer::rel_ee_pos [private]

Definition at line 302 of file Stabilizer.h.

std::vector<hrp::Matrix33> Stabilizer::rel_ee_rot [private]

Definition at line 303 of file Stabilizer.h.

Definition at line 306 of file Stabilizer.h.

Definition at line 298 of file Stabilizer.h.

Definition at line 310 of file Stabilizer.h.

double Stabilizer::rx [private]

Definition at line 323 of file Stabilizer.h.

double Stabilizer::ry [private]

Definition at line 323 of file Stabilizer.h.

Definition at line 307 of file Stabilizer.h.

OpenHRP::StabilizerService::STAlgorithm Stabilizer::st_algorithm [private]

Definition at line 312 of file Stabilizer.h.

std::vector<STIKParam> Stabilizer::stikp [private]

Definition at line 289 of file Stabilizer.h.

std::vector<std::vector<Eigen::Vector2d> > Stabilizer::support_polygon_vetices [private]

Definition at line 314 of file Stabilizer.h.

Definition at line 313 of file Stabilizer.h.

std::vector<hrp::Vector3> Stabilizer::target_ee_p [private]

Definition at line 302 of file Stabilizer.h.

std::vector<hrp::Matrix33> Stabilizer::target_ee_R [private]

Definition at line 303 of file Stabilizer.h.

Definition at line 305 of file Stabilizer.h.

Definition at line 301 of file Stabilizer.h.

Definition at line 300 of file Stabilizer.h.

Definition at line 301 of file Stabilizer.h.

std::vector<double> Stabilizer::tilt_margin [private]

Definition at line 335 of file Stabilizer.h.

std::vector<double> Stabilizer::toeheel_ratio [private]

Definition at line 292 of file Stabilizer.h.

double Stabilizer::total_mass [private]

Definition at line 334 of file Stabilizer.h.

Definition at line 294 of file Stabilizer.h.

Definition at line 288 of file Stabilizer.h.

Definition at line 310 of file Stabilizer.h.

double Stabilizer::transition_time [private]

Definition at line 334 of file Stabilizer.h.

Definition at line 298 of file Stabilizer.h.

Definition at line 298 of file Stabilizer.h.

double Stabilizer::zmp_origin_off [private]

Definition at line 310 of file Stabilizer.h.


The documentation for this class was generated from the following files:


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:21