Functions
samplerobot_auto_balancer Namespace Reference

Functions

def calcDiffFootMidCoords
def calcVelListFromPosList
def checkActualBaseAttitude
def checkGoPosParam
def checkParameterFromLog
def checkTooLargeABCCogAcc
def defJointGroups
def demo
def demoAutoBalancerBalanceAgainstHandForce
def demoAutoBalancerBalanceWithArms
def demoAutoBalancerFixFeet
def demoAutoBalancerFixFeetHands
def demoAutoBalancerGetParam
def demoAutoBalancerSetParam
def demoAutoBalancerStartStopCheck
def demoAutoBalancerTestPoses
def demoGaitGeneratorBaseTformCheck
def demoGaitGeneratorChangePoseWhileWalking
def demoGaitGeneratorChangeStepParam
def demoGaitGeneratorChangeStrideLimitationType
def demoGaitGeneratorEmergencyStop
def demoGaitGeneratorFixHand
def demoGaitGeneratorGetParam
def demoGaitGeneratorGetRemainingSteps
def demoGaitGeneratorGoPos
def demoGaitGeneratorGoPosOverwrite
def demoGaitGeneratorGoVelocity
def demoGaitGeneratorGrasplessManipMode
def demoGaitGeneratorNonDefaultStrideStop
def demoGaitGeneratorOverwriteCurrentFootstep
def demoGaitGeneratorOverwriteFootsteps
def demoGaitGeneratorOverwriteFootstepsBase
def demoGaitGeneratorSetFootSteps
def demoGaitGeneratorSetFootStepsWithArms
def demoGaitGeneratorSetParam
def demoGaitGeneratorStopStartSyncCheck
def demoGaitGeneratorToeHeelContact
def demoStandingPosResetting
def init
def Quaternion2Angle
def Quaternion2RotMatrixZ
def saveLogForCheckParameter
def testPoseList

Function Documentation

def samplerobot_auto_balancer.calcDiffFootMidCoords (   prev_dst_foot_midcoords)
Calculate difference from previous dst_foot_midcoords and current dst_foot_midcoords.
Returns difx, dify, difth, which are gopos parameters

Definition at line 83 of file samplerobot_auto_balancer.py.

Calculate velocity list from position list.
Element of pos_list and vel_list should be list like [0,0,0].

Definition at line 105 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.checkActualBaseAttitude (   ref_rpy = None,
  thre = 0.1 
)
Check whether the robot falls down based on actual robot base-link attitude.

Definition at line 60 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.checkGoPosParam (   goalx,
  goaly,
  goalth,
  prev_dst_foot_midcoords 
)
Check whether goPos argument are correctly achieved based on dst_foot_midcoords values.
goPos params should be "new_dst_foot_midcoords - prev_dst_foot_midcoords"

Definition at line 93 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.checkParameterFromLog (   port_name,
  log_fname = "/tmp/test-samplerobot-auto-balancer-check-param",
  save_log = True,
  rtc_name = "SampleRobot(Robot)0" 
)

Definition at line 55 of file samplerobot_auto_balancer.py.

Check ABC too large cog acceleration.
This is used discontinuous cog trajectory.

Definition at line 116 of file samplerobot_auto_balancer.py.

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Definition at line 499 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorOverwriteFootstepsBase (   axis,
  overwrite_offset_idx = 1,
  init_fs = False 
)

Definition at line 512 of file samplerobot_auto_balancer.py.

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def samplerobot_auto_balancer.saveLogForCheckParameter (   log_fname = "/tmp/test-samplerobot-auto-balancer-check-param")

Definition at line 52 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.testPoseList (   pose_list,
  initial_pose 
)

Definition at line 45 of file samplerobot_auto_balancer.py.



hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:58