Public Member Functions | Public Attributes | Private Attributes | List of all members
robotis_op::BalanceControlUsingDampingConroller Class Reference

#include <op3_balance_control.h>

Public Member Functions

 BalanceControlUsingDampingConroller ()
 
double getCOBManualAdjustmentX ()
 
double getCOBManualAdjustmentY ()
 
double getCOBManualAdjustmentZ ()
 
double getGyroBalanceGainRatio (void)
 
void initialize (const int control_cycle_msec)
 
void process (int *balance_error, Eigen::MatrixXd *robot_to_cob_modified, Eigen::MatrixXd *robot_to_right_foot_modified, Eigen::MatrixXd *robot_to_left_foot_modified)
 
void setCOBManualAdjustment (double cob_x_adjustment_m, double cob_y_adjustment_m, double cob_z_adjustment_m)
 
void setCurrentFootForceTorqueSensorOutput (double r_force_x_N, double r_force_y_N, double r_force_z_N, double r_torque_roll_Nm, double r_torque_pitch_Nm, double r_torque_yaw_Nm, double l_force_x_N, double l_force_y_N, double l_force_z_N, double l_torque_roll_Nm, double l_torque_pitch_Nm, double l_torque_yaw_Nm)
 
void setCurrentGyroSensorOutput (double gyro_roll, double gyro_pitch)
 
void setCurrentOrientationSensorOutput (double cob_orientation_roll, double cob_orientation_pitch)
 
void setDesiredCOBGyro (double gyro_roll, double gyro_pitch)
 
void setDesiredCOBOrientation (double cob_orientation_roll, double cob_orientation_pitch)
 
void setDesiredFootForceTorque (double r_force_x_N, double r_force_y_N, double r_force_z_N, double r_torque_roll_Nm, double r_torque_pitch_Nm, double r_torque_yaw_Nm, double l_force_x_N, double l_force_y_N, double l_force_z_N, double l_torque_roll_Nm, double l_torque_pitch_Nm, double l_torque_yaw_Nm)
 
void setDesiredPose (const Eigen::MatrixXd &robot_to_cob, const Eigen::MatrixXd &robot_to_right_foot, const Eigen::MatrixXd &robot_to_left_foot)
 
void setForceTorqueBalanceEnable (bool enable)
 
void setGyroBalanceEnable (bool enable)
 
void setGyroBalanceGainRatio (double gyro_balance_gain_ratio)
 
void setMaximumAdjustment (double cob_x_max_adjustment_m, double cob_y_max_adjustment_m, double cob_z_max_adjustment_m, double cob_roll_max_adjustment_rad, double cob_pitch_max_adjustment_rad, double cob_yaw_max_adjustment_rad, double foot_x_max_adjustment_m, double foot_y_max_adjustment_m, double foot_z_max_adjustment_m, double foot_roll_max_adjustment_rad, double foot_pitch_max_adjustment_rad, double foot_yaw_max_adjustment_rad)
 
void setOrientationBalanceEnable (bool enable)
 
 ~BalanceControlUsingDampingConroller ()
 

Public Attributes

DampingController foot_force_z_diff_ctrl_
 
DampingController foot_pitch_angle_ctrl_
 
DampingController foot_roll_angle_ctrl_
 
DampingController left_foot_force_x_ctrl_
 
DampingController left_foot_force_y_ctrl_
 
DampingController left_foot_force_z_ctrl_
 
DampingController left_foot_torque_pitch_ctrl_
 
DampingController left_foot_torque_roll_ctrl_
 
DampingController right_foot_force_x_ctrl_
 
DampingController right_foot_force_y_ctrl_
 
DampingController right_foot_force_z_ctrl_
 
DampingController right_foot_torque_pitch_ctrl_
 
DampingController right_foot_torque_roll_ctrl_
 

Private Attributes

int balance_control_error_
 
double cob_pitch_adjustment_abs_max_rad_
 
double cob_roll_adjustment_abs_max_rad_
 
double cob_x_adjustment_abs_max_m_
 
double cob_x_manual_adjustment_m_
 
double cob_y_adjustment_abs_max_m_
 
double cob_y_manual_adjustment_m_
 
double cob_yaw_adjustment_abs_max_rad_
 
double cob_z_adjustment_abs_max_m_
 
double cob_z_manual_adjustment_m_
 
double control_cycle_sec_
 
double current_gyro_pitch_rad_per_sec_
 
double current_gyro_roll_rad_per_sec_
 
double current_left_fx_N_
 
double current_left_fy_N_
 
double current_left_fz_N_
 
double current_left_tx_Nm_
 
double current_left_ty_Nm_
 
double current_left_tz_Nm_
 
double current_orientation_pitch_rad_
 
double current_orientation_roll_rad_
 
double current_right_fx_N_
 
double current_right_fy_N_
 
double current_right_fz_N_
 
double current_right_tx_Nm_
 
double current_right_ty_Nm_
 
double current_right_tz_Nm_
 
double desired_gyro_pitch_
 
double desired_gyro_roll_
 
Eigen::MatrixXd desired_robot_to_cob_
 
Eigen::MatrixXd desired_robot_to_left_foot_
 
Eigen::MatrixXd desired_robot_to_right_foot_
 
double foot_pitch_adjustment_abs_max_rad_
 
double foot_pitch_adjustment_by_gyro_pitch_
 
double foot_pitch_adjustment_by_orientation_pitch_
 
double foot_roll_adjustment_abs_max_rad_
 
double foot_roll_adjustment_by_gyro_roll_
 
double foot_roll_adjustment_by_orientation_roll_
 
double foot_x_adjustment_abs_max_m_
 
double foot_y_adjustment_abs_max_m_
 
double foot_yaw_adjustment_abs_max_rad_
 
double foot_z_adjustment_abs_max_m_
 
double foot_z_adjustment_by_force_z_difference_
 
double ft_enable_
 
double gyro_balance_gain_ratio_
 
double gyro_balance_pitch_gain_
 
double gyro_balance_roll_gain_
 
double gyro_cut_off_freq_
 
double gyro_enable_
 
double gyro_lpf_alpha_
 
double gyro_pitch_filtered_
 
double gyro_roll_filtered_
 
double l_foot_pitch_adjustment_by_torque_pitch_
 
double l_foot_roll_adjustment_by_torque_roll_
 
double l_foot_x_adjustment_by_force_x_
 
double l_foot_y_adjustment_by_force_y_
 
double l_foot_z_adjustment_by_force_z_
 
Eigen::MatrixXd mat_robot_to_cob_modified_
 
Eigen::MatrixXd mat_robot_to_left_foot_modified_
 
Eigen::MatrixXd mat_robot_to_right_foot_modified_
 
double orientation_enable_
 
Eigen::VectorXd pose_cob_adjustment_
 
Eigen::VectorXd pose_left_foot_adjustment_
 
Eigen::VectorXd pose_right_foot_adjustment_
 
double r_foot_pitch_adjustment_by_torque_pitch_
 
double r_foot_roll_adjustment_by_torque_roll_
 
double r_foot_x_adjustment_by_force_x_
 
double r_foot_y_adjustment_by_force_y_
 
double r_foot_z_adjustment_by_force_z_
 

Detailed Description

Definition at line 95 of file op3_balance_control.h.

Constructor & Destructor Documentation

BalanceControlUsingDampingConroller::BalanceControlUsingDampingConroller ( )

Definition at line 144 of file op3_balance_control.cpp.

BalanceControlUsingDampingConroller::~BalanceControlUsingDampingConroller ( )

Definition at line 227 of file op3_balance_control.cpp.

Member Function Documentation

double BalanceControlUsingDampingConroller::getCOBManualAdjustmentX ( )

Definition at line 520 of file op3_balance_control.cpp.

double BalanceControlUsingDampingConroller::getCOBManualAdjustmentY ( )

Definition at line 525 of file op3_balance_control.cpp.

double BalanceControlUsingDampingConroller::getCOBManualAdjustmentZ ( )

Definition at line 530 of file op3_balance_control.cpp.

double BalanceControlUsingDampingConroller::getGyroBalanceGainRatio ( void  )

Definition at line 542 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::initialize ( const int  control_cycle_msec)

Definition at line 230 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::process ( int *  balance_error,
Eigen::MatrixXd *  robot_to_cob_modified,
Eigen::MatrixXd *  robot_to_right_foot_modified,
Eigen::MatrixXd *  robot_to_left_foot_modified 
)

Definition at line 285 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setCOBManualAdjustment ( double  cob_x_adjustment_m,
double  cob_y_adjustment_m,
double  cob_z_adjustment_m 
)

Definition at line 513 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setCurrentFootForceTorqueSensorOutput ( double  r_force_x_N,
double  r_force_y_N,
double  r_force_z_N,
double  r_torque_roll_Nm,
double  r_torque_pitch_Nm,
double  r_torque_yaw_Nm,
double  l_force_x_N,
double  l_force_y_N,
double  l_force_z_N,
double  l_torque_roll_Nm,
double  l_torque_pitch_Nm,
double  l_torque_yaw_Nm 
)

Definition at line 472 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setCurrentGyroSensorOutput ( double  gyro_roll,
double  gyro_pitch 
)

Definition at line 460 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setCurrentOrientationSensorOutput ( double  cob_orientation_roll,
double  cob_orientation_pitch 
)

Definition at line 466 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setDesiredCOBGyro ( double  gyro_roll,
double  gyro_pitch 
)

Definition at line 427 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setDesiredCOBOrientation ( double  cob_orientation_roll,
double  cob_orientation_pitch 
)

Definition at line 433 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setDesiredFootForceTorque ( double  r_force_x_N,
double  r_force_y_N,
double  r_force_z_N,
double  r_torque_roll_Nm,
double  r_torque_pitch_Nm,
double  r_torque_yaw_Nm,
double  l_force_x_N,
double  l_force_y_N,
double  l_force_z_N,
double  l_torque_roll_Nm,
double  l_torque_pitch_Nm,
double  l_torque_yaw_Nm 
)

Definition at line 439 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setDesiredPose ( const Eigen::MatrixXd &  robot_to_cob,
const Eigen::MatrixXd &  robot_to_right_foot,
const Eigen::MatrixXd &  robot_to_left_foot 
)

Definition at line 420 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setForceTorqueBalanceEnable ( bool  enable)

Definition at line 277 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setGyroBalanceEnable ( bool  enable)

Definition at line 261 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setGyroBalanceGainRatio ( double  gyro_balance_gain_ratio)

Definition at line 535 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setMaximumAdjustment ( double  cob_x_max_adjustment_m,
double  cob_y_max_adjustment_m,
double  cob_z_max_adjustment_m,
double  cob_roll_max_adjustment_rad,
double  cob_pitch_max_adjustment_rad,
double  cob_yaw_max_adjustment_rad,
double  foot_x_max_adjustment_m,
double  foot_y_max_adjustment_m,
double  foot_z_max_adjustment_m,
double  foot_roll_max_adjustment_rad,
double  foot_pitch_max_adjustment_rad,
double  foot_yaw_max_adjustment_rad 
)

Definition at line 493 of file op3_balance_control.cpp.

void BalanceControlUsingDampingConroller::setOrientationBalanceEnable ( bool  enable)

Definition at line 269 of file op3_balance_control.cpp.

Member Data Documentation

int robotis_op::BalanceControlUsingDampingConroller::balance_control_error_
private

Definition at line 164 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::cob_pitch_adjustment_abs_max_rad_
private

Definition at line 237 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::cob_roll_adjustment_abs_max_rad_
private

Definition at line 236 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::cob_x_adjustment_abs_max_m_
private

Definition at line 233 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::cob_x_manual_adjustment_m_
private

Definition at line 198 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::cob_y_adjustment_abs_max_m_
private

Definition at line 234 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::cob_y_manual_adjustment_m_
private

Definition at line 199 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::cob_yaw_adjustment_abs_max_rad_
private

Definition at line 238 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::cob_z_adjustment_abs_max_m_
private

Definition at line 235 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::cob_z_manual_adjustment_m_
private

Definition at line 200 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::control_cycle_sec_
private

Definition at line 165 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_gyro_pitch_rad_per_sec_
private

Definition at line 188 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_gyro_roll_rad_per_sec_
private

Definition at line 188 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_left_fx_N_
private

Definition at line 194 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_left_fy_N_
private

Definition at line 194 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_left_fz_N_
private

Definition at line 194 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_left_tx_Nm_
private

Definition at line 195 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_left_ty_Nm_
private

Definition at line 195 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_left_tz_Nm_
private

Definition at line 195 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_orientation_pitch_rad_
private

Definition at line 190 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_orientation_roll_rad_
private

Definition at line 190 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_right_fx_N_
private

Definition at line 192 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_right_fy_N_
private

Definition at line 192 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_right_fz_N_
private

Definition at line 192 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_right_tx_Nm_
private

Definition at line 193 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_right_ty_Nm_
private

Definition at line 193 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::current_right_tz_Nm_
private

Definition at line 193 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::desired_gyro_pitch_
private

Definition at line 185 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::desired_gyro_roll_
private

Definition at line 185 of file op3_balance_control.h.

Eigen::MatrixXd robotis_op::BalanceControlUsingDampingConroller::desired_robot_to_cob_
private

Definition at line 174 of file op3_balance_control.h.

Eigen::MatrixXd robotis_op::BalanceControlUsingDampingConroller::desired_robot_to_left_foot_
private

Definition at line 176 of file op3_balance_control.h.

Eigen::MatrixXd robotis_op::BalanceControlUsingDampingConroller::desired_robot_to_right_foot_
private

Definition at line 175 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::foot_force_z_diff_ctrl_

Definition at line 149 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_pitch_adjustment_abs_max_rad_
private

Definition at line 244 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_pitch_adjustment_by_gyro_pitch_
private

Definition at line 204 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_pitch_adjustment_by_orientation_pitch_
private

Definition at line 207 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::foot_pitch_angle_ctrl_

Definition at line 147 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_roll_adjustment_abs_max_rad_
private

Definition at line 243 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_roll_adjustment_by_gyro_roll_
private

Definition at line 203 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_roll_adjustment_by_orientation_roll_
private

Definition at line 206 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::foot_roll_angle_ctrl_

Definition at line 146 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_x_adjustment_abs_max_m_
private

Definition at line 240 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_y_adjustment_abs_max_m_
private

Definition at line 241 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_yaw_adjustment_abs_max_rad_
private

Definition at line 245 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_z_adjustment_abs_max_m_
private

Definition at line 242 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::foot_z_adjustment_by_force_z_difference_
private

Definition at line 209 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::ft_enable_
private

Definition at line 170 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::gyro_balance_gain_ratio_
private

Definition at line 179 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::gyro_balance_pitch_gain_
private

Definition at line 181 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::gyro_balance_roll_gain_
private

Definition at line 180 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::gyro_cut_off_freq_
private

Definition at line 182 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::gyro_enable_
private

Definition at line 168 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::gyro_lpf_alpha_
private

Definition at line 183 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::gyro_pitch_filtered_
private

Definition at line 184 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::gyro_roll_filtered_
private

Definition at line 184 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::l_foot_pitch_adjustment_by_torque_pitch_
private

Definition at line 221 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::l_foot_roll_adjustment_by_torque_roll_
private

Definition at line 220 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::l_foot_x_adjustment_by_force_x_
private

Definition at line 218 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::l_foot_y_adjustment_by_force_y_
private

Definition at line 219 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::l_foot_z_adjustment_by_force_z_
private

Definition at line 211 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::left_foot_force_x_ctrl_

Definition at line 158 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::left_foot_force_y_ctrl_

Definition at line 159 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::left_foot_force_z_ctrl_

Definition at line 151 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::left_foot_torque_pitch_ctrl_

Definition at line 161 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::left_foot_torque_roll_ctrl_

Definition at line 160 of file op3_balance_control.h.

Eigen::MatrixXd robotis_op::BalanceControlUsingDampingConroller::mat_robot_to_cob_modified_
private

Definition at line 228 of file op3_balance_control.h.

Eigen::MatrixXd robotis_op::BalanceControlUsingDampingConroller::mat_robot_to_left_foot_modified_
private

Definition at line 230 of file op3_balance_control.h.

Eigen::MatrixXd robotis_op::BalanceControlUsingDampingConroller::mat_robot_to_right_foot_modified_
private

Definition at line 229 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::orientation_enable_
private

Definition at line 169 of file op3_balance_control.h.

Eigen::VectorXd robotis_op::BalanceControlUsingDampingConroller::pose_cob_adjustment_
private

Definition at line 224 of file op3_balance_control.h.

Eigen::VectorXd robotis_op::BalanceControlUsingDampingConroller::pose_left_foot_adjustment_
private

Definition at line 226 of file op3_balance_control.h.

Eigen::VectorXd robotis_op::BalanceControlUsingDampingConroller::pose_right_foot_adjustment_
private

Definition at line 225 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::r_foot_pitch_adjustment_by_torque_pitch_
private

Definition at line 216 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::r_foot_roll_adjustment_by_torque_roll_
private

Definition at line 215 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::r_foot_x_adjustment_by_force_x_
private

Definition at line 213 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::r_foot_y_adjustment_by_force_y_
private

Definition at line 214 of file op3_balance_control.h.

double robotis_op::BalanceControlUsingDampingConroller::r_foot_z_adjustment_by_force_z_
private

Definition at line 210 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::right_foot_force_x_ctrl_

Definition at line 153 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::right_foot_force_y_ctrl_

Definition at line 154 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::right_foot_force_z_ctrl_

Definition at line 150 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::right_foot_torque_pitch_ctrl_

Definition at line 156 of file op3_balance_control.h.

DampingController robotis_op::BalanceControlUsingDampingConroller::right_foot_torque_roll_ctrl_

Definition at line 155 of file op3_balance_control.h.

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

op3_balance_control
Author(s): SCH
autogenerated on Mon Jun 10 2019 14:41:08