#include <thormang3_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 () | |
Definition at line 99 of file thormang3_balance_control.h.
BalanceControlUsingDampingConroller::BalanceControlUsingDampingConroller | ( | ) |
Definition at line 148 of file thormang3_balance_control.cpp.
BalanceControlUsingDampingConroller::~BalanceControlUsingDampingConroller | ( | ) |
Definition at line 231 of file thormang3_balance_control.cpp.
double BalanceControlUsingDampingConroller::getCOBManualAdjustmentX | ( | ) |
Definition at line 524 of file thormang3_balance_control.cpp.
double BalanceControlUsingDampingConroller::getCOBManualAdjustmentY | ( | ) |
Definition at line 529 of file thormang3_balance_control.cpp.
double BalanceControlUsingDampingConroller::getCOBManualAdjustmentZ | ( | ) |
Definition at line 534 of file thormang3_balance_control.cpp.
double BalanceControlUsingDampingConroller::getGyroBalanceGainRatio | ( | void | ) |
Definition at line 546 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::initialize | ( | const int | control_cycle_msec | ) |
Definition at line 234 of file thormang3_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 289 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::setCOBManualAdjustment | ( | double | cob_x_adjustment_m, |
double | cob_y_adjustment_m, | ||
double | cob_z_adjustment_m | ||
) |
Definition at line 517 of file thormang3_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 476 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::setCurrentGyroSensorOutput | ( | double | gyro_roll, |
double | gyro_pitch | ||
) |
Definition at line 464 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::setCurrentOrientationSensorOutput | ( | double | cob_orientation_roll, |
double | cob_orientation_pitch | ||
) |
Definition at line 470 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::setDesiredCOBGyro | ( | double | gyro_roll, |
double | gyro_pitch | ||
) |
Definition at line 431 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::setDesiredCOBOrientation | ( | double | cob_orientation_roll, |
double | cob_orientation_pitch | ||
) |
Definition at line 437 of file thormang3_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 443 of file thormang3_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 424 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::setForceTorqueBalanceEnable | ( | bool | enable | ) |
Definition at line 281 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::setGyroBalanceEnable | ( | bool | enable | ) |
Definition at line 265 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::setGyroBalanceGainRatio | ( | double | gyro_balance_gain_ratio | ) |
Definition at line 539 of file thormang3_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 497 of file thormang3_balance_control.cpp.
void BalanceControlUsingDampingConroller::setOrientationBalanceEnable | ( | bool | enable | ) |
Definition at line 273 of file thormang3_balance_control.cpp.
|
private |
Definition at line 168 of file thormang3_balance_control.h.
|
private |
Definition at line 241 of file thormang3_balance_control.h.
|
private |
Definition at line 240 of file thormang3_balance_control.h.
|
private |
Definition at line 237 of file thormang3_balance_control.h.
|
private |
Definition at line 202 of file thormang3_balance_control.h.
|
private |
Definition at line 238 of file thormang3_balance_control.h.
|
private |
Definition at line 203 of file thormang3_balance_control.h.
|
private |
Definition at line 242 of file thormang3_balance_control.h.
|
private |
Definition at line 239 of file thormang3_balance_control.h.
|
private |
Definition at line 204 of file thormang3_balance_control.h.
|
private |
Definition at line 169 of file thormang3_balance_control.h.
|
private |
Definition at line 192 of file thormang3_balance_control.h.
|
private |
Definition at line 192 of file thormang3_balance_control.h.
|
private |
Definition at line 198 of file thormang3_balance_control.h.
|
private |
Definition at line 198 of file thormang3_balance_control.h.
|
private |
Definition at line 198 of file thormang3_balance_control.h.
|
private |
Definition at line 199 of file thormang3_balance_control.h.
|
private |
Definition at line 199 of file thormang3_balance_control.h.
|
private |
Definition at line 199 of file thormang3_balance_control.h.
|
private |
Definition at line 194 of file thormang3_balance_control.h.
|
private |
Definition at line 194 of file thormang3_balance_control.h.
|
private |
Definition at line 196 of file thormang3_balance_control.h.
|
private |
Definition at line 196 of file thormang3_balance_control.h.
|
private |
Definition at line 196 of file thormang3_balance_control.h.
|
private |
Definition at line 197 of file thormang3_balance_control.h.
|
private |
Definition at line 197 of file thormang3_balance_control.h.
|
private |
Definition at line 197 of file thormang3_balance_control.h.
|
private |
Definition at line 189 of file thormang3_balance_control.h.
|
private |
Definition at line 189 of file thormang3_balance_control.h.
|
private |
Definition at line 178 of file thormang3_balance_control.h.
|
private |
Definition at line 180 of file thormang3_balance_control.h.
|
private |
Definition at line 179 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::foot_force_z_diff_ctrl_ |
Definition at line 153 of file thormang3_balance_control.h.
|
private |
Definition at line 248 of file thormang3_balance_control.h.
|
private |
Definition at line 208 of file thormang3_balance_control.h.
|
private |
Definition at line 211 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::foot_pitch_angle_ctrl_ |
Definition at line 151 of file thormang3_balance_control.h.
|
private |
Definition at line 247 of file thormang3_balance_control.h.
|
private |
Definition at line 207 of file thormang3_balance_control.h.
|
private |
Definition at line 210 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::foot_roll_angle_ctrl_ |
Definition at line 150 of file thormang3_balance_control.h.
|
private |
Definition at line 244 of file thormang3_balance_control.h.
|
private |
Definition at line 245 of file thormang3_balance_control.h.
|
private |
Definition at line 249 of file thormang3_balance_control.h.
|
private |
Definition at line 246 of file thormang3_balance_control.h.
|
private |
Definition at line 213 of file thormang3_balance_control.h.
|
private |
Definition at line 174 of file thormang3_balance_control.h.
|
private |
Definition at line 183 of file thormang3_balance_control.h.
|
private |
Definition at line 185 of file thormang3_balance_control.h.
|
private |
Definition at line 184 of file thormang3_balance_control.h.
|
private |
Definition at line 186 of file thormang3_balance_control.h.
|
private |
Definition at line 172 of file thormang3_balance_control.h.
|
private |
Definition at line 187 of file thormang3_balance_control.h.
|
private |
Definition at line 188 of file thormang3_balance_control.h.
|
private |
Definition at line 188 of file thormang3_balance_control.h.
|
private |
Definition at line 225 of file thormang3_balance_control.h.
|
private |
Definition at line 224 of file thormang3_balance_control.h.
|
private |
Definition at line 222 of file thormang3_balance_control.h.
|
private |
Definition at line 223 of file thormang3_balance_control.h.
|
private |
Definition at line 215 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::left_foot_force_x_ctrl_ |
Definition at line 162 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::left_foot_force_y_ctrl_ |
Definition at line 163 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::left_foot_force_z_ctrl_ |
Definition at line 155 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::left_foot_torque_pitch_ctrl_ |
Definition at line 165 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::left_foot_torque_roll_ctrl_ |
Definition at line 164 of file thormang3_balance_control.h.
|
private |
Definition at line 232 of file thormang3_balance_control.h.
|
private |
Definition at line 234 of file thormang3_balance_control.h.
|
private |
Definition at line 233 of file thormang3_balance_control.h.
|
private |
Definition at line 173 of file thormang3_balance_control.h.
|
private |
Definition at line 228 of file thormang3_balance_control.h.
|
private |
Definition at line 230 of file thormang3_balance_control.h.
|
private |
Definition at line 229 of file thormang3_balance_control.h.
|
private |
Definition at line 220 of file thormang3_balance_control.h.
|
private |
Definition at line 219 of file thormang3_balance_control.h.
|
private |
Definition at line 217 of file thormang3_balance_control.h.
|
private |
Definition at line 218 of file thormang3_balance_control.h.
|
private |
Definition at line 214 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::right_foot_force_x_ctrl_ |
Definition at line 157 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::right_foot_force_y_ctrl_ |
Definition at line 158 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::right_foot_force_z_ctrl_ |
Definition at line 154 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::right_foot_torque_pitch_ctrl_ |
Definition at line 160 of file thormang3_balance_control.h.
DampingController thormang3::BalanceControlUsingDampingConroller::right_foot_torque_roll_ctrl_ |
Definition at line 159 of file thormang3_balance_control.h.