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

#include <Stabilizer.h>

Inheritance diagram for Stabilizer:

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. More...

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. More...

Public Member Functions inherited from RTC::DataFlowComponentBase
	DataFlowComponentBase (Manager *manager)

void	init ()

virtual	~DataFlowComponentBase (void)

Public Member Functions inherited from RTC::RTObject_impl
ReturnCode_t	activate (RTC::UniqueId ec_id)

void	addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)

ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , const char *))

void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)

ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))

void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)

ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::memfunc)(const char ))

void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)

ECActionListener *	addExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))

bool	addInPort (const char *name, InPortBase &inport)

bool	addOutPort (const char *name, OutPortBase &outport)

bool	addPort (PortBase &port)

bool	addPort (PortService_ptr port)

bool	addPort (CorbaPort &port)

PortActionListener *	addPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))

void	addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)

void	addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)

PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &))

void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)

PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &, ReturnCode_t))

void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)

PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))

void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)

PreComponentActionListener *	addPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))

bool	addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)

bool	addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)

UniqueId	attach_context (ExecutionContext_ptr exec_context)

UniqueId	bindContext (ExecutionContext_ptr exec_context)

bool	bindParameter (const char param_name, VarType &var, const char def_val, bool(trans)(VarType &, const char )=coil::stringTo)

ReturnCode_t	deactivate (RTC::UniqueId ec_id)

void	deletePort (PortService_ptr port)

void	deletePort (CorbaPort &port)

void	deletePort (PortBase &port)

void	deletePortByName (const char *port_name)

ReturnCode_t	detach_context (UniqueId exec_handle)

virtual ReturnCode_t	exit ()

virtual ReturnCode_t	finalize ()

void	finalizeContexts ()

void	finalizePorts ()

virtual ComponentProfile *	get_component_profile ()

virtual SDOPackage::Configuration_ptr	get_configuration ()

virtual ExecutionContext_ptr	get_context (UniqueId exec_handle)

virtual ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt)

virtual SDOPackage::DeviceProfile *	get_device_profile ()

virtual SDOPackage::Monitoring_ptr	get_monitoring ()

virtual SDOPackage::OrganizationList *	get_organizations ()

virtual ExecutionContextList *	get_owned_contexts ()

virtual SDOPackage::OrganizationList *	get_owned_organizations ()

virtual ExecutionContextList *	get_participating_contexts ()

virtual PortServiceList *	get_ports ()

virtual char *	get_sdo_id ()

virtual SDOPackage::SDOService_ptr	get_sdo_service (const char *id)

virtual char *	get_sdo_type ()

virtual SDOPackage::ServiceProfile *	get_service_profile (const char *id)

virtual SDOPackage::ServiceProfileList *	get_service_profiles ()

virtual CORBA::Any *	get_status (const char *name)

virtual SDOPackage::NVList *	get_status_list ()

const char *	getCategory ()

const char *	getDescription ()

ExecutionContext_ptr	getExecutionContext (RTC::UniqueId ec_id)

double	getExecutionRate (RTC::UniqueId ec_id)

const char *	getInstanceName ()

std::vector< std::string >	getNamingNames ()

RTObject_ptr	getObjRef () const

coil::Properties &	getProperties ()

const char *	getTypeName ()

const char *	getVendor ()

const char *	getVersion ()

virtual ReturnCode_t	initialize ()

virtual CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context)

bool	isOwnExecutionContext (RTC::UniqueId ec_id)

virtual ReturnCode_t	on_aborting (UniqueId exec_handle)

virtual ReturnCode_t	on_activated (UniqueId exec_handle)

virtual ReturnCode_t	on_deactivated (UniqueId exec_handle)

virtual ReturnCode_t	on_error (UniqueId exec_handle)

virtual ReturnCode_t	on_execute (UniqueId exec_handle)

virtual ReturnCode_t	on_finalize ()

virtual ReturnCode_t	on_initialize ()

virtual ReturnCode_t	on_rate_changed (UniqueId exec_handle)

virtual ReturnCode_t	on_reset (UniqueId exec_handle)

virtual ReturnCode_t	on_shutdown (UniqueId exec_handle)

virtual ReturnCode_t	on_startup (UniqueId exec_handle)

virtual ReturnCode_t	on_state_update (UniqueId exec_handle)

bool	readAll ()

void	registerInPort (const char *name, InPortBase &inport)

void	registerOutPort (const char *name, OutPortBase &outport)

void	registerPort (PortBase &port)

void	registerPort (PortService_ptr port)

void	registerPort (CorbaPort &port)

void	removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)

void	removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)

void	removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)

void	removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)

bool	removeInPort (InPortBase &port)

bool	removeOutPort (OutPortBase &port)

bool	removePort (PortService_ptr port)

bool	removePort (CorbaPort &port)

bool	removePort (PortBase &port)

void	removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)

void	removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)

void	removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)

void	removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)

void	removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)

bool	removeSdoServiceConsumer (const char *id)

bool	removeSdoServiceProvider (const char *id)

ReturnCode_t	reset (RTC::UniqueId ec_id)

	RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)

	RTObject_impl (Manager *manager)

ReturnCode_t	setExecutionRate (RTC::UniqueId ec_id, double rate)

void	setInstanceName (const char *instance_name)

void	setObjRef (const RTObject_ptr rtobj)

void	setProperties (const coil::Properties &prop)

void	setReadAll (bool read=true, bool completion=false)

void	setWriteAll (bool write=true, bool completion=false)

void	updateParameters (const char *config_set)

bool	writeAll ()

virtual	~RTObject_impl (void)

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

Protected Attributes inherited from RTC::RTObject_impl
ComponentActionListeners	m_actionListeners

ConfigAdmin	m_configsets

bool	m_created

std::vector< ExecutionContextBase * >	m_eclist

ExecutionContextServiceList	m_ecMine

ExecutionContextServiceList	m_ecOther

bool	m_exiting

std::vector< InPortBase * >	m_inports

RTObject_var	m_objref

std::vector< OutPortBase * >	m_outports

Manager *	m_pManager

CORBA::ORB_var	m_pORB

PortAdmin	m_portAdmin

PortConnectListeners	m_portconnListeners

PortableServer::POA_var	m_pPOA

ComponentProfile	m_profile

coil::Properties	m_properties

SDOPackage::Configuration_var	m_pSdoConfig

SDOPackage::Configuration_impl *	m_pSdoConfigImpl

bool	m_readAll

bool	m_readAllCompletion

SDOPackage::OrganizationList	m_sdoOrganizations

SDOPackage::OrganizationList	m_sdoOwnedOrganizations

SdoServiceAdmin	m_sdoservice

SDOPackage::NVList	m_sdoStatus

bool	m_writeAll

bool	m_writeAllCompletion

Logger	rtclog

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::Vector3 >	act_ee_p

std::vector< hrp::Matrix33 >	act_ee_R

std::vector< hrp::Vector3 >	act_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< int >	m_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::Vector3 >	projected_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::Vector3 >	ref_force

std::vector< hrp::Vector3 >	ref_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::Vector3 >	rel_ee_pos

std::vector< hrp::Matrix33 >	rel_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< STIKParam >	stikp

std::vector< std::vector< Eigen::Vector2d > >	support_polygon_vetices

SimpleZMPDistributor *	szd

std::vector< hrp::Vector3 >	target_ee_p

std::vector< hrp::Matrix33 >	target_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

Additional Inherited Members
Public Types inherited from RTC::RTObject_impl
typedef ExecutionContextActionListener	ECActionListener

typedef ExecutionContextActionListenerType	ECActionListenerType

typedef PostComponentActionListener	PostCompActionListener

typedef PostComponentActionListenerType	PostCompActionListenerType

typedef PreComponentActionListener	PreCompActionListener

typedef PreComponentActionListenerType	PreCompActionListenerType

Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t	onAborting (RTC::UniqueId exec_handle)

void	onAddPort (const PortProfile &pprof)

void	onAttachExecutionContext (UniqueId ec_id)

void	onDetachExecutionContext (UniqueId ec_id)

virtual ReturnCode_t	onError (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onRateChanged (RTC::UniqueId exec_handle)

void	onRemovePort (const PortProfile &pprof)

virtual ReturnCode_t	onReset (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onShutdown (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onStartup (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onStateUpdate (RTC::UniqueId exec_handle)

void	postOnAborting (UniqueId ec_id, ReturnCode_t ret)

void	postOnActivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnError (UniqueId ec_id, ReturnCode_t ret)

void	postOnExecute (UniqueId ec_id, ReturnCode_t ret)

void	postOnFinalize (UniqueId ec_id, ReturnCode_t ret)

void	postOnInitialize (UniqueId ec_id, ReturnCode_t ret)

void	postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)

void	postOnReset (UniqueId ec_id, ReturnCode_t ret)

void	postOnShutdown (UniqueId ec_id, ReturnCode_t ret)

void	postOnStartup (UniqueId ec_id, ReturnCode_t ret)

void	postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)

void	preOnAborting (UniqueId ec_id)

void	preOnActivated (UniqueId ec_id)

void	preOnDeactivated (UniqueId ec_id)

void	preOnError (UniqueId ec_id)

void	preOnExecute (UniqueId ec_id)

void	preOnFinalize (UniqueId ec_id)

void	preOnInitialize (UniqueId ec_id)

void	preOnRateChanged (UniqueId ec_id)

void	preOnReset (UniqueId ec_id)

void	preOnShutdown (UniqueId ec_id)

void	preOnStartup (UniqueId ec_id)

void	preOnStateUpdate (UniqueId ec_id)

void	shutdown ()

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

Stabilizer::Stabilizer ( RTC::Manager * manager )

Constructor.

Parameters

manager pointer 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.

hrp::Vector3 Stabilizer::calcDampingControl	(	const hrp::Vector3 &	prev_d,
		const hrp::Vector3 &	TT
	)

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.

hrp::Vector3 Stabilizer::calcDampingControl	(	const hrp::Vector3 &	tau_d,
		const hrp::Vector3 &	tau,
		const hrp::Vector3 &	prev_d,
		const hrp::Vector3 &	DD,
		const hrp::Vector3 &	TT
	)

Definition at line 1749 of file Stabilizer.cpp.

void Stabilizer::calcDiffFootOriginExtMoment ( )

Definition at line 1755 of file Stabilizer.cpp.

void Stabilizer::calcEEForceMomentControl ( )

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.

int Stabilizer::calcMaxTransitionCount ( )

inline

Definition at line 149 of file Stabilizer.h.

void Stabilizer::calcRUNST ( )

Definition at line 2546 of file Stabilizer.cpp.

void Stabilizer::calcStateForEmergencySignal ( )

Definition at line 1317 of file Stabilizer.cpp.

void Stabilizer::calcSwingEEModification ( )

Definition at line 1661 of file Stabilizer.cpp.

void Stabilizer::calcSwingSupportLimbGain ( )

Definition at line 1468 of file Stabilizer.cpp.

void Stabilizer::calcTorque ( )

Definition at line 2744 of file Stabilizer.cpp.

void Stabilizer::calcTPCC ( )

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
	)

void Stabilizer::getActualParameters ( )

Definition at line 799 of file Stabilizer.cpp.

void Stabilizer::getCurrentParameters ( )

Definition at line 759 of file Stabilizer.cpp.

void Stabilizer::getFootmidCoords ( rats::coordinates & ret )

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.

void Stabilizer::getTargetParameters ( )

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.

void Stabilizer::moveBasePosRotForBodyRPYControl ( )

Definition at line 1441 of file Stabilizer.cpp.

RTC::ReturnCode_t Stabilizer::onActivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 528 of file Stabilizer.cpp.

RTC::ReturnCode_t Stabilizer::onDeactivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 534 of file Stabilizer.cpp.

RTC::ReturnCode_t Stabilizer::onExecute ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 548 of file Stabilizer.cpp.

RTC::ReturnCode_t Stabilizer::onFinalize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 505 of file Stabilizer.cpp.

RTC::ReturnCode_t Stabilizer::onInitialize ( void )

virtual

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.

void Stabilizer::startStabilizer ( void )

Definition at line 1853 of file Stabilizer.cpp.

void Stabilizer::stopStabilizer ( void )

Definition at line 1867 of file Stabilizer.cpp.

void Stabilizer::sync_2_idle ( )

Definition at line 1843 of file Stabilizer.cpp.

void Stabilizer::sync_2_st ( )

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.

hrp::Vector3 Stabilizer::vlimit	(	const hrp::Vector3 &	value,
		const hrp::Vector3 &	limit_value
	)

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.

void Stabilizer::waitSTTransition ( )

Definition at line 2463 of file Stabilizer.cpp.

Member Data Documentation

hrp::Vector3 Stabilizer::act_base_rpy

private

Definition at line 307 of file Stabilizer.h.

hrp::Vector3 Stabilizer::act_cog

private

Definition at line 307 of file Stabilizer.h.

hrp::Vector3 Stabilizer::act_cogvel

private

Definition at line 307 of file Stabilizer.h.

boost::shared_ptr<FirstOrderLowPassFilter<hrp::Vector3> > Stabilizer::act_cogvel_filter

private

Definition at line 311 of file Stabilizer.h.

std::vector<bool> Stabilizer::act_contact_states

private

Definition at line 291 of file Stabilizer.h.

hrp::Vector3 Stabilizer::act_cp

private

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.

hrp::Vector3 Stabilizer::act_total_foot_origin_moment

private

Definition at line 332 of file Stabilizer.h.

hrp::Vector3 Stabilizer::act_zmp

private

Definition at line 307 of file Stabilizer.h.

double Stabilizer::contact_decision_threshold

private

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.

enum Stabilizer::cmode Stabilizer::control_mode

private

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.

hrp::Vector3 Stabilizer::cp_offset

private

Definition at line 307 of file Stabilizer.h.

hrp::Vector3 Stabilizer::current_base_pos

private

Definition at line 307 of file Stabilizer.h.

hrp::Vector3 Stabilizer::current_base_rpy

private

Definition at line 307 of file Stabilizer.h.

hrp::Vector3 Stabilizer::current_root_p

private

Definition at line 300 of file Stabilizer.h.

hrp::Matrix33 Stabilizer::current_root_R

private

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.

int Stabilizer::detection_count_to_air

private

Definition at line 297 of file Stabilizer.h.

hrp::Vector3 Stabilizer::diff_cp

private

Definition at line 307 of file Stabilizer.h.

hrp::Vector3 Stabilizer::diff_foot_origin_ext_moment

private

Definition at line 328 of file Stabilizer.h.

double Stabilizer::dt

private

Definition at line 293 of file Stabilizer.h.

double Stabilizer::eefm_body_attitude_control_gain[2]

private

Definition at line 325 of file Stabilizer.h.

double Stabilizer::eefm_body_attitude_control_time_const[2]

private

Definition at line 325 of file Stabilizer.h.

double Stabilizer::eefm_gravitational_acceleration

private

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.

double Stabilizer::eefm_pos_margin_time

private

Definition at line 326 of file Stabilizer.h.

double Stabilizer::eefm_pos_time_const_swing

private

Definition at line 326 of file Stabilizer.h.

double Stabilizer::eefm_pos_transition_time

private

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.

hrp::Vector3 Stabilizer::eefm_swing_pos_damping_gain

private

Definition at line 333 of file Stabilizer.h.

hrp::Vector3 Stabilizer::eefm_swing_rot_damping_gain

private

Definition at line 333 of file Stabilizer.h.

bool Stabilizer::eefm_use_force_difference_control

private

Definition at line 298 of file Stabilizer.h.

bool Stabilizer::eefm_use_swing_damping

private

Definition at line 298 of file Stabilizer.h.

double Stabilizer::eefm_zmp_delay_time_const[2]

private

Definition at line 325 of file Stabilizer.h.

OpenHRP::StabilizerService::EmergencyCheckMode Stabilizer::emergency_check_mode

private

Definition at line 336 of file Stabilizer.h.

hrp::Vector3 Stabilizer::foot_origin_offset[2]

private

Definition at line 308 of file Stabilizer.h.

bool Stabilizer::initial_cp_too_large_error

private

Definition at line 298 of file Stabilizer.h.

int Stabilizer::is_air_counter

private

Definition at line 297 of file Stabilizer.h.

bool Stabilizer::is_emergency

private

Definition at line 298 of file Stabilizer.h.

bool Stabilizer::is_estop_while_walking

private

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.

bool Stabilizer::is_legged_robot

private

Definition at line 298 of file Stabilizer.h.

bool Stabilizer::is_seq_interpolating

private

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.

double Stabilizer::limb_stretch_avoidance_time_const

private

Definition at line 310 of file Stabilizer.h.

double Stabilizer::limb_stretch_avoidance_vlimit[2]

private

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.

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_diffFootOriginExtMomentOut

protected

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.

TwoDofController Stabilizer::m_f_z

private

Definition at line 318 of file Stabilizer.h.

int Stabilizer::m_is_falling_counter

private

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.

coil::Mutex Stabilizer::m_mutex

private

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.

hrp::BodyPtr Stabilizer::m_robot

private

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.

StabilizerService_impl Stabilizer::m_service0

protected

Definition at line 252 of file Stabilizer.h.

RTC::CorbaPort Stabilizer::m_StabilizerServicePort

protected

Definition at line 246 of file Stabilizer.h.

RTC::TimedDoubleSeq Stabilizer::m_tau

protected

Definition at line 162 of file Stabilizer.h.

TwoDofController Stabilizer::m_tau_x[2]

private

Definition at line 318 of file Stabilizer.h.

TwoDofController Stabilizer::m_tau_y[2]

private

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.

hrp::Vector3 Stabilizer::new_refzmp

private

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.

hrp::Vector3 Stabilizer::pdr

private

Definition at line 319 of file Stabilizer.h.

hrp::Vector3 Stabilizer::pos_ctrl

private

Definition at line 329 of file Stabilizer.h.

hrp::Vector3 Stabilizer::prev_act_cog

private

Definition at line 307 of file Stabilizer.h.

hrp::Matrix33 Stabilizer::prev_act_foot_origin_rot

private

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.

hrp::Vector3 Stabilizer::prev_ref_cog

private

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.

hrp::Matrix33 Stabilizer::prev_ref_foot_origin_rot

private

Definition at line 301 of file Stabilizer.h.

hrp::Vector3 Stabilizer::prev_ref_zmp

private

Definition at line 306 of file Stabilizer.h.

std::vector<hrp::Vector3> Stabilizer::projected_normal

private

Definition at line 302 of file Stabilizer.h.

hrp::dvector Stabilizer::qorg

private

Definition at line 288 of file Stabilizer.h.

hrp::dvector Stabilizer::qrefv

private

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.

hrp::Vector3 Stabilizer::ref_cog

private

Definition at line 306 of file Stabilizer.h.

hrp::Vector3 Stabilizer::ref_cogvel

private

Definition at line 306 of file Stabilizer.h.

std::vector<bool> Stabilizer::ref_contact_states

private

Definition at line 291 of file Stabilizer.h.

hrp::Vector3 Stabilizer::ref_cp

private

Definition at line 306 of file Stabilizer.h.

hrp::Matrix33 Stabilizer::ref_foot_origin_rot

private

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.

hrp::Vector3 Stabilizer::ref_total_foot_origin_moment

private

Definition at line 332 of file Stabilizer.h.

hrp::Vector3 Stabilizer::ref_total_force

private

Definition at line 330 of file Stabilizer.h.

hrp::Vector3 Stabilizer::ref_total_moment

private

Definition at line 330 of file Stabilizer.h.

hrp::Vector3 Stabilizer::ref_zmp

private

Definition at line 306 of file Stabilizer.h.

hrp::Vector3 Stabilizer::ref_zmp_aux

private

Definition at line 328 of file Stabilizer.h.

hrp::Vector3 Stabilizer::rel_act_cp

private

Definition at line 307 of file Stabilizer.h.

hrp::Vector3 Stabilizer::rel_act_zmp

private

Definition at line 307 of file Stabilizer.h.

hrp::Vector3 Stabilizer::rel_cog

private

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.

hrp::Vector3 Stabilizer::rel_ref_cp

private

Definition at line 306 of file Stabilizer.h.

bool Stabilizer::reset_emergency_flag

private

Definition at line 298 of file Stabilizer.h.

double Stabilizer::root_rot_compensation_limit[2]

private

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.

hrp::Vector3 Stabilizer::sbp_cog_offset

private

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.

SimpleZMPDistributor* Stabilizer::szd

private

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.

rats::coordinates Stabilizer::target_foot_midcoords

private

Definition at line 305 of file Stabilizer.h.

hrp::Matrix33 Stabilizer::target_foot_origin_rot

private

Definition at line 301 of file Stabilizer.h.

hrp::Vector3 Stabilizer::target_root_p

private

Definition at line 300 of file Stabilizer.h.

hrp::Matrix33 Stabilizer::target_root_R

private

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.

int Stabilizer::transition_count

private

Definition at line 294 of file Stabilizer.h.

hrp::dvector Stabilizer::transition_joint_q

private

Definition at line 288 of file Stabilizer.h.

double Stabilizer::transition_smooth_gain

private

Definition at line 310 of file Stabilizer.h.

double Stabilizer::transition_time

private

Definition at line 334 of file Stabilizer.h.

bool Stabilizer::use_limb_stretch_avoidance

private

Definition at line 298 of file Stabilizer.h.

bool Stabilizer::use_zmp_truncation

private

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:

Classes

Public Member Functions

Protected Attributes

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation