Classes | Public Member Functions | Protected Attributes | Private Types | Private Attributes | List of all members
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]

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)
 
ConfigurationParamListeneraddConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, const char *))
 
void addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
 
ConfigurationSetListeneraddConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
 
void addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
 
ConfigurationSetNameListeneraddConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::*memfunc)(const char *))
 
void addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
 
ECActionListeneraddExecutionContextActionListener (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)
 
PortActionListeneraddPortActionListener (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)
 
PortConnectListeneraddPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &))
 
void addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
 
PortConnectRetListeneraddPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &, ReturnCode_t))
 
void addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
 
PostComponentActionListeneraddPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
 
void addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)
 
PreComponentActionListeneraddPreComponentActionListener (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 ExecutionContextListget_owned_contexts ()
 
virtual SDOPackage::OrganizationList * get_owned_organizations ()
 
virtual ExecutionContextListget_participating_contexts ()
 
virtual PortServiceListget_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::NVListget_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::PropertiesgetProperties ()
 
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
 
Managerm_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_implm_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::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::JointPathExPtrjpe_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::VirtualForceSensorParamm_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
 

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
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.

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:


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Tue Feb 9 2021 03:39:37