Public Member Functions | Public Attributes | Private Attributes | List of all members
thormang3::BalanceControlUsingPDController Class Reference

#include <thormang3_balance_control.h>

Public Member Functions

 BalanceControlUsingPDController ()
 
double getCOBManualAdjustmentX ()
 
double getCOBManualAdjustmentY ()
 
double getCOBManualAdjustmentZ ()
 
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 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)
 
 ~BalanceControlUsingPDController ()
 

Public Attributes

BalancePDController foot_pitch_angle_ctrl_
 
BalancePDController foot_pitch_gyro_ctrl_
 
BalancePDController foot_roll_angle_ctrl_
 
BalancePDController foot_roll_gyro_ctrl_
 
BalancePDController left_foot_force_x_ctrl_
 
BalanceLowPassFilter left_foot_force_x_lpf_
 
BalancePDController left_foot_force_y_ctrl_
 
BalanceLowPassFilter left_foot_force_y_lpf_
 
BalancePDController left_foot_force_z_ctrl_
 
BalanceLowPassFilter left_foot_force_z_lpf_
 
BalancePDController left_foot_torque_pitch_ctrl_
 
BalanceLowPassFilter left_foot_torque_pitch_lpf_
 
BalancePDController left_foot_torque_roll_ctrl_
 
BalanceLowPassFilter left_foot_torque_roll_lpf_
 
BalanceLowPassFilter pitch_angle_lpf_
 
BalanceLowPassFilter pitch_gyro_lpf_
 
BalancePDController right_foot_force_x_ctrl_
 
BalanceLowPassFilter right_foot_force_x_lpf_
 
BalancePDController right_foot_force_y_ctrl_
 
BalanceLowPassFilter right_foot_force_y_lpf_
 
BalancePDController right_foot_force_z_ctrl_
 
BalanceLowPassFilter right_foot_force_z_lpf_
 
BalancePDController right_foot_torque_pitch_ctrl_
 
BalanceLowPassFilter right_foot_torque_pitch_lpf_
 
BalancePDController right_foot_torque_roll_ctrl_
 
BalanceLowPassFilter right_foot_torque_roll_lpf_
 
BalanceLowPassFilter roll_angle_lpf_
 
BalanceLowPassFilter roll_gyro_lpf_
 

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_
 
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 ft_enable_
 
double gyro_enable_
 
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 253 of file thormang3_balance_control.h.

Constructor & Destructor Documentation

BalanceControlUsingPDController::BalanceControlUsingPDController ( )

Definition at line 552 of file thormang3_balance_control.cpp.

BalanceControlUsingPDController::~BalanceControlUsingPDController ( )

Definition at line 623 of file thormang3_balance_control.cpp.

Member Function Documentation

double BalanceControlUsingPDController::getCOBManualAdjustmentX ( )

Definition at line 925 of file thormang3_balance_control.cpp.

double BalanceControlUsingPDController::getCOBManualAdjustmentY ( )

Definition at line 930 of file thormang3_balance_control.cpp.

double BalanceControlUsingPDController::getCOBManualAdjustmentZ ( )

Definition at line 935 of file thormang3_balance_control.cpp.

void BalanceControlUsingPDController::initialize ( const int  control_cycle_msec)

Definition at line 626 of file thormang3_balance_control.cpp.

void BalanceControlUsingPDController::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 679 of file thormang3_balance_control.cpp.

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

Definition at line 918 of file thormang3_balance_control.cpp.

void BalanceControlUsingPDController::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 877 of file thormang3_balance_control.cpp.

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

Definition at line 865 of file thormang3_balance_control.cpp.

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

Definition at line 871 of file thormang3_balance_control.cpp.

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

Definition at line 834 of file thormang3_balance_control.cpp.

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

Definition at line 840 of file thormang3_balance_control.cpp.

void BalanceControlUsingPDController::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 846 of file thormang3_balance_control.cpp.

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

Definition at line 827 of file thormang3_balance_control.cpp.

void BalanceControlUsingPDController::setForceTorqueBalanceEnable ( bool  enable)

Definition at line 671 of file thormang3_balance_control.cpp.

void BalanceControlUsingPDController::setGyroBalanceEnable ( bool  enable)

Definition at line 655 of file thormang3_balance_control.cpp.

void BalanceControlUsingPDController::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 898 of file thormang3_balance_control.cpp.

void BalanceControlUsingPDController::setOrientationBalanceEnable ( bool  enable)

Definition at line 663 of file thormang3_balance_control.cpp.

Member Data Documentation

int thormang3::BalanceControlUsingPDController::balance_control_error_
private

Definition at line 339 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::cob_pitch_adjustment_abs_max_rad_
private

Definition at line 401 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::cob_roll_adjustment_abs_max_rad_
private

Definition at line 400 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::cob_x_adjustment_abs_max_m_
private

Definition at line 397 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::cob_x_manual_adjustment_m_
private

Definition at line 363 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::cob_y_adjustment_abs_max_m_
private

Definition at line 398 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::cob_y_manual_adjustment_m_
private

Definition at line 364 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::cob_yaw_adjustment_abs_max_rad_
private

Definition at line 402 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::cob_z_adjustment_abs_max_m_
private

Definition at line 399 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::cob_z_manual_adjustment_m_
private

Definition at line 365 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::control_cycle_sec_
private

Definition at line 340 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_gyro_pitch_rad_per_sec_
private

Definition at line 353 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_gyro_roll_rad_per_sec_
private

Definition at line 353 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_left_fx_N_
private

Definition at line 359 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_left_fy_N_
private

Definition at line 359 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_left_fz_N_
private

Definition at line 359 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_left_tx_Nm_
private

Definition at line 360 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_left_ty_Nm_
private

Definition at line 360 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_left_tz_Nm_
private

Definition at line 360 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_orientation_pitch_rad_
private

Definition at line 355 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_orientation_roll_rad_
private

Definition at line 355 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_right_fx_N_
private

Definition at line 357 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_right_fy_N_
private

Definition at line 357 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_right_fz_N_
private

Definition at line 357 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_right_tx_Nm_
private

Definition at line 358 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_right_ty_Nm_
private

Definition at line 358 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::current_right_tz_Nm_
private

Definition at line 358 of file thormang3_balance_control.h.

Eigen::MatrixXd thormang3::BalanceControlUsingPDController::desired_robot_to_cob_
private

Definition at line 348 of file thormang3_balance_control.h.

Eigen::MatrixXd thormang3::BalanceControlUsingPDController::desired_robot_to_left_foot_
private

Definition at line 350 of file thormang3_balance_control.h.

Eigen::MatrixXd thormang3::BalanceControlUsingPDController::desired_robot_to_right_foot_
private

Definition at line 349 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_pitch_adjustment_abs_max_rad_
private

Definition at line 408 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_pitch_adjustment_by_gyro_pitch_
private

Definition at line 369 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_pitch_adjustment_by_orientation_pitch_
private

Definition at line 372 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::foot_pitch_angle_ctrl_

Definition at line 304 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::foot_pitch_gyro_ctrl_

Definition at line 302 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_roll_adjustment_abs_max_rad_
private

Definition at line 407 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_roll_adjustment_by_gyro_roll_
private

Definition at line 368 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_roll_adjustment_by_orientation_roll_
private

Definition at line 371 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::foot_roll_angle_ctrl_

Definition at line 303 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::foot_roll_gyro_ctrl_

Definition at line 301 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_x_adjustment_abs_max_m_
private

Definition at line 404 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_y_adjustment_abs_max_m_
private

Definition at line 405 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_yaw_adjustment_abs_max_rad_
private

Definition at line 409 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::foot_z_adjustment_abs_max_m_
private

Definition at line 406 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::ft_enable_
private

Definition at line 345 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::gyro_enable_
private

Definition at line 343 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::l_foot_pitch_adjustment_by_torque_pitch_
private

Definition at line 385 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::l_foot_roll_adjustment_by_torque_roll_
private

Definition at line 384 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::l_foot_x_adjustment_by_force_x_
private

Definition at line 382 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::l_foot_y_adjustment_by_force_y_
private

Definition at line 383 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::l_foot_z_adjustment_by_force_z_
private

Definition at line 375 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::left_foot_force_x_ctrl_

Definition at line 314 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::left_foot_force_x_lpf_

Definition at line 332 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::left_foot_force_y_ctrl_

Definition at line 315 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::left_foot_force_y_lpf_

Definition at line 333 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::left_foot_force_z_ctrl_

Definition at line 307 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::left_foot_force_z_lpf_

Definition at line 334 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::left_foot_torque_pitch_ctrl_

Definition at line 317 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::left_foot_torque_pitch_lpf_

Definition at line 336 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::left_foot_torque_roll_ctrl_

Definition at line 316 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::left_foot_torque_roll_lpf_

Definition at line 335 of file thormang3_balance_control.h.

Eigen::MatrixXd thormang3::BalanceControlUsingPDController::mat_robot_to_cob_modified_
private

Definition at line 392 of file thormang3_balance_control.h.

Eigen::MatrixXd thormang3::BalanceControlUsingPDController::mat_robot_to_left_foot_modified_
private

Definition at line 394 of file thormang3_balance_control.h.

Eigen::MatrixXd thormang3::BalanceControlUsingPDController::mat_robot_to_right_foot_modified_
private

Definition at line 393 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::orientation_enable_
private

Definition at line 344 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::pitch_angle_lpf_

Definition at line 324 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::pitch_gyro_lpf_

Definition at line 321 of file thormang3_balance_control.h.

Eigen::VectorXd thormang3::BalanceControlUsingPDController::pose_cob_adjustment_
private

Definition at line 388 of file thormang3_balance_control.h.

Eigen::VectorXd thormang3::BalanceControlUsingPDController::pose_left_foot_adjustment_
private

Definition at line 390 of file thormang3_balance_control.h.

Eigen::VectorXd thormang3::BalanceControlUsingPDController::pose_right_foot_adjustment_
private

Definition at line 389 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::r_foot_pitch_adjustment_by_torque_pitch_
private

Definition at line 380 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::r_foot_roll_adjustment_by_torque_roll_
private

Definition at line 379 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::r_foot_x_adjustment_by_force_x_
private

Definition at line 377 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::r_foot_y_adjustment_by_force_y_
private

Definition at line 378 of file thormang3_balance_control.h.

double thormang3::BalanceControlUsingPDController::r_foot_z_adjustment_by_force_z_
private

Definition at line 374 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::right_foot_force_x_ctrl_

Definition at line 309 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::right_foot_force_x_lpf_

Definition at line 326 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::right_foot_force_y_ctrl_

Definition at line 310 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::right_foot_force_y_lpf_

Definition at line 327 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::right_foot_force_z_ctrl_

Definition at line 306 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::right_foot_force_z_lpf_

Definition at line 328 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::right_foot_torque_pitch_ctrl_

Definition at line 312 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::right_foot_torque_pitch_lpf_

Definition at line 330 of file thormang3_balance_control.h.

BalancePDController thormang3::BalanceControlUsingPDController::right_foot_torque_roll_ctrl_

Definition at line 311 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::right_foot_torque_roll_lpf_

Definition at line 329 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::roll_angle_lpf_

Definition at line 323 of file thormang3_balance_control.h.

BalanceLowPassFilter thormang3::BalanceControlUsingPDController::roll_gyro_lpf_

Definition at line 320 of file thormang3_balance_control.h.

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

thormang3_balance_control
Author(s): Jay Song, Kayman
autogenerated on Mon Jun 10 2019 15:37:45