thormang3_walking_demo.cpp File Reference

#include "thormang3_walking_demo/thormang3_walking_demo.h"

Include dependency graph for thormang3_walking_demo.cpp:

Go to the source code of this file.

Functions
void	initialize ()
bool	loadBalanceParam (thormang3_walking_module_msgs::SetBalanceParam &set_param)
bool	loadFeedBackGain (thormang3_walking_module_msgs::SetJointFeedBackGain &set_gain)
void	moveToInitPose ()
void	setBalanceOff ()
void	setBalanceOn ()
void	setCtrlModule ()
void	walkBackward ()
void	walkForward ()
void	walkingModuleStatusMSGCallback (const robotis_controller_msgs::StatusMsg::ConstPtr &msg)

Variables
ros::ServiceClient	g_add_step_data_array_client
double	g_body_z_swap = 0.01
ros::Publisher	g_enable_ctrl_module_pub
double	g_foot_z_swap = 0.1
ros::ServiceClient	g_get_ref_step_data_client
ros::ServiceClient	g_is_running_client
ros::ServiceClient	g_set_balance_param_client
ros::ServiceClient	g_set_feedback_gain_client
double	g_start_end_time = 2.0
double	g_step_length = 0.1
double	g_step_time = 1.0
ros::Subscriber	g_walking_module_status_msg_sub
ros::Publisher	g_wholebody_ini_pose_pub

Function Documentation

void initialize

(

)

Definition at line 50 of file thormang3_walking_demo.cpp.

bool loadBalanceParam

(

thormang3_walking_module_msgs::SetBalanceParam &

set_param

)

Definition at line 82 of file thormang3_walking_demo.cpp.

bool loadFeedBackGain

(

thormang3_walking_module_msgs::SetJointFeedBackGain &

set_gain

)

Definition at line 170 of file thormang3_walking_demo.cpp.

void moveToInitPose

(

)

Definition at line 67 of file thormang3_walking_demo.cpp.

void setBalanceOff

(

)

Definition at line 305 of file thormang3_walking_demo.cpp.

void setBalanceOn

(

)

Definition at line 242 of file thormang3_walking_demo.cpp.

void setCtrlModule

(

)

Definition at line 75 of file thormang3_walking_demo.cpp.

void walkBackward

(

)

Definition at line 439 of file thormang3_walking_demo.cpp.

void walkForward

(

)

Definition at line 357 of file thormang3_walking_demo.cpp.

void walkingModuleStatusMSGCallback

(

const robotis_controller_msgs::StatusMsg::ConstPtr &

msg

)

Definition at line 45 of file thormang3_walking_demo.cpp.

Variable Documentation

ros::ServiceClient g_add_step_data_array_client

Definition at line 30 of file thormang3_walking_demo.cpp.

double g_body_z_swap = 0.01

Definition at line 41 of file thormang3_walking_demo.cpp.

ros::Publisher g_enable_ctrl_module_pub

Definition at line 27 of file thormang3_walking_demo.cpp.

double g_foot_z_swap = 0.1

Definition at line 42 of file thormang3_walking_demo.cpp.

ros::ServiceClient g_get_ref_step_data_client

Definition at line 29 of file thormang3_walking_demo.cpp.

ros::ServiceClient g_is_running_client

Definition at line 31 of file thormang3_walking_demo.cpp.

ros::ServiceClient g_set_balance_param_client

Definition at line 32 of file thormang3_walking_demo.cpp.

ros::ServiceClient g_set_feedback_gain_client

Definition at line 33 of file thormang3_walking_demo.cpp.

double g_start_end_time = 2.0

Definition at line 38 of file thormang3_walking_demo.cpp.

double g_step_length = 0.1

Definition at line 40 of file thormang3_walking_demo.cpp.

double g_step_time = 1.0

Definition at line 39 of file thormang3_walking_demo.cpp.

ros::Subscriber g_walking_module_status_msg_sub

Definition at line 35 of file thormang3_walking_demo.cpp.

ros::Publisher g_wholebody_ini_pose_pub

Definition at line 26 of file thormang3_walking_demo.cpp.