sample RT component which has one data input port and one data output port More...

#include <Stabilizer.h>

Inheritance diagram for Stabilizer:

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)

ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , const char *))

void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)

ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))

void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)

ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::memfunc)(const char ))

void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)

ECActionListener *	addExecutionContextActionListener (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)

PortActionListener *	addPortActionListener (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)

PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &))

void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)

PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &, ReturnCode_t))

void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)

PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))

void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)

PreComponentActionListener *	addPreComponentActionListener (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 ExecutionContextList *	get_owned_contexts ()

virtual SDOPackage::OrganizationList *	get_owned_organizations ()

virtual ExecutionContextList *	get_participating_contexts ()

virtual PortServiceList *	get_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::NVList *	get_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::Properties &	getProperties ()

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

Manager *	m_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_impl *	m_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::Vector3 >	act_ee_p

std::vector< hrp::Matrix33 >	act_ee_R

std::vector< hrp::Vector3 >	act_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::JointPathExPtr >	jpe_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::VirtualForceSensorParam >	m_vfs

std::vector< int >	m_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::Vector3 >	projected_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::Vector3 >	ref_force

std::vector< hrp::Vector3 >	ref_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::Vector3 >	rel_ee_pos

std::vector< hrp::Matrix33 >	rel_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< STIKParam >	stikp

std::vector< std::vector< Eigen::Vector2d > >	support_polygon_vetices

SimpleZMPDistributor *	szd

std::vector< hrp::Vector3 >	target_ee_p

std::vector< hrp::Matrix33 >	target_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

◆ cmode

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::Stabilizer ( RTC::Manager * manager )

Constructor.

Parameters

manager pointer to the Manager

Definition at line 61 of file Stabilizer.cpp.

◆ ~Stabilizer()

Stabilizer::~Stabilizer ( )

virtual

Destructor.

Definition at line 111 of file Stabilizer.cpp.

Member Function Documentation

◆ calcContactMatrix()

void Stabilizer::calcContactMatrix	(	hrp::dmatrix &	tm,
		const std::vector< hrp::Vector3 > &	contact_p
	)

Definition at line 2731 of file Stabilizer.cpp.

◆ calcDampingControl() [1/4]

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.

◆ calcDampingControl() [2/4]

hrp::Vector3 Stabilizer::calcDampingControl	(	const hrp::Vector3 &	prev_d,
		const hrp::Vector3 &	TT
	)

Definition at line 1738 of file Stabilizer.cpp.

◆ calcDampingControl() [3/4]

double Stabilizer::calcDampingControl	(	const double	prev_d,
		const double	TT
	)

Definition at line 1744 of file Stabilizer.cpp.

◆ calcDampingControl() [4/4]

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.

◆ calcDiffFootOriginExtMoment()

void Stabilizer::calcDiffFootOriginExtMoment ( )

Definition at line 1755 of file Stabilizer.cpp.

◆ calcEEForceMomentControl()

void Stabilizer::calcEEForceMomentControl ( )

Definition at line 1548 of file Stabilizer.cpp.

◆ calcFootOriginCoords()

void Stabilizer::calcFootOriginCoords	(	hrp::Vector3 &	foot_origin_pos,
		hrp::Matrix33 &	foot_origin_rot
	)

Definition at line 768 of file Stabilizer.cpp.

◆ calcMaxTransitionCount()

int Stabilizer::calcMaxTransitionCount ( )

inline

Definition at line 149 of file Stabilizer.h.

◆ calcRUNST()

void Stabilizer::calcRUNST ( )

Definition at line 2546 of file Stabilizer.cpp.

◆ calcStateForEmergencySignal()

void Stabilizer::calcStateForEmergencySignal ( )

Definition at line 1317 of file Stabilizer.cpp.

◆ calcSwingEEModification()

void Stabilizer::calcSwingEEModification ( )

Definition at line 1661 of file Stabilizer.cpp.

◆ calcSwingSupportLimbGain()

void Stabilizer::calcSwingSupportLimbGain ( )

Definition at line 1468 of file Stabilizer.cpp.

◆ calcTorque()

void Stabilizer::calcTorque ( )

Definition at line 2744 of file Stabilizer.cpp.

◆ calcTPCC()

void Stabilizer::calcTPCC ( )

Definition at line 1504 of file Stabilizer.cpp.

◆ calcZMP()

bool Stabilizer::calcZMP	(	hrp::Vector3 &	ret_zmp,
		const double	zmp_z
	)

Definition at line 1276 of file Stabilizer.cpp.

◆ fixLegToCoords()

void Stabilizer::fixLegToCoords	(	const std::string &	leg,
		const rats::coordinates &	coords
	)

◆ getActualParameters()

void Stabilizer::getActualParameters ( )

Definition at line 799 of file Stabilizer.cpp.

◆ getCurrentParameters()

void Stabilizer::getCurrentParameters ( )

Definition at line 759 of file Stabilizer.cpp.

◆ getFootmidCoords()

void Stabilizer::getFootmidCoords ( rats::coordinates & ret )

◆ getParameter()

void Stabilizer::getParameter ( OpenHRP::StabilizerService::stParam & i_stp )

Definition at line 1881 of file Stabilizer.cpp.

◆ getStabilizerAlgorithmString()

std::string Stabilizer::getStabilizerAlgorithmString ( OpenHRP::StabilizerService::STAlgorithm _st_algorithm )

Definition at line 2371 of file Stabilizer.cpp.

◆ getTargetParameters()

void Stabilizer::getTargetParameters ( )

Definition at line 1158 of file Stabilizer.cpp.

◆ isContact()

bool Stabilizer::isContact ( const size_t idx )

inline

Definition at line 145 of file Stabilizer.h.

◆ limbStretchAvoidanceControl()

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.

◆ moveBasePosRotForBodyRPYControl()

void Stabilizer::moveBasePosRotForBodyRPYControl ( )

Definition at line 1441 of file Stabilizer.cpp.

◆ onActivated()

RTC::ReturnCode_t Stabilizer::onActivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 528 of file Stabilizer.cpp.

◆ onDeactivated()

RTC::ReturnCode_t Stabilizer::onDeactivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 534 of file Stabilizer.cpp.

◆ onExecute()

RTC::ReturnCode_t Stabilizer::onExecute ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 548 of file Stabilizer.cpp.

◆ onFinalize()

RTC::ReturnCode_t Stabilizer::onFinalize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 505 of file Stabilizer.cpp.

◆ onInitialize()

RTC::ReturnCode_t Stabilizer::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 115 of file Stabilizer.cpp.

◆ setBoolSequenceParam()

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.

◆ setBoolSequenceParamWithCheckContact()

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.

◆ setParameter()

void Stabilizer::setParameter ( const OpenHRP::StabilizerService::stParam & i_stp )

Definition at line 2069 of file Stabilizer.cpp.

◆ startStabilizer()

void Stabilizer::startStabilizer ( void )

Definition at line 1853 of file Stabilizer.cpp.

◆ stopStabilizer()

void Stabilizer::stopStabilizer ( void )

Definition at line 1867 of file Stabilizer.cpp.

◆ sync_2_idle()

void Stabilizer::sync_2_idle ( )

Definition at line 1843 of file Stabilizer.cpp.

◆ sync_2_st()

void Stabilizer::sync_2_st ( )

Definition at line 1815 of file Stabilizer.cpp.

◆ vlimit() [1/4]

double Stabilizer::vlimit	(	double	value,
		double	llimit_value,
		double	ulimit_value
	)

Definition at line 2477 of file Stabilizer.cpp.

◆ vlimit() [2/4]

hrp::Vector3 Stabilizer::vlimit	(	const hrp::Vector3 &	value,
		double	llimit_value,
		double	ulimit_value
	)

Definition at line 2487 of file Stabilizer.cpp.

◆ vlimit() [3/4]

hrp::Vector3 Stabilizer::vlimit	(	const hrp::Vector3 &	value,
		const hrp::Vector3 &	limit_value
	)

Definition at line 2502 of file Stabilizer.cpp.

◆ vlimit() [4/4]

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.

◆ waitSTTransition()

void Stabilizer::waitSTTransition ( )

Definition at line 2463 of file Stabilizer.cpp.

Member Data Documentation

◆ act_base_rpy

hrp::Vector3 Stabilizer::act_base_rpy

private

Definition at line 307 of file Stabilizer.h.

◆ act_cog

hrp::Vector3 Stabilizer::act_cog

private

Definition at line 307 of file Stabilizer.h.

◆ act_cogvel

hrp::Vector3 Stabilizer::act_cogvel

private

Definition at line 307 of file Stabilizer.h.

◆ act_cogvel_filter

boost::shared_ptr<FirstOrderLowPassFilter<hrp::Vector3> > Stabilizer::act_cogvel_filter

private

Definition at line 311 of file Stabilizer.h.

◆ act_contact_states

std::vector<bool> Stabilizer::act_contact_states

private

Definition at line 291 of file Stabilizer.h.

◆ act_cp

hrp::Vector3 Stabilizer::act_cp

private

Definition at line 307 of file Stabilizer.h.

◆ act_ee_p

std::vector<hrp::Vector3> Stabilizer::act_ee_p

private

Definition at line 302 of file Stabilizer.h.

◆ act_ee_R

std::vector<hrp::Matrix33> Stabilizer::act_ee_R

private

Definition at line 303 of file Stabilizer.h.

◆ act_force

std::vector<hrp::Vector3> Stabilizer::act_force

private

Definition at line 302 of file Stabilizer.h.

◆ act_total_foot_origin_moment

hrp::Vector3 Stabilizer::act_total_foot_origin_moment

private

Definition at line 332 of file Stabilizer.h.

◆ act_zmp

hrp::Vector3 Stabilizer::act_zmp

private

Definition at line 307 of file Stabilizer.h.

◆ contact_decision_threshold

double Stabilizer::contact_decision_threshold

private

Definition at line 334 of file Stabilizer.h.

◆ contact_states_index_map

std::map<std::string, size_t> Stabilizer::contact_states_index_map

private

Definition at line 290 of file Stabilizer.h.

◆ control_mode

enum Stabilizer::cmode Stabilizer::control_mode

private

◆ cop_check_margin

double Stabilizer::cop_check_margin

private

Definition at line 334 of file Stabilizer.h.

◆ cp_check_margin

std::vector<double> Stabilizer::cp_check_margin

private

Definition at line 335 of file Stabilizer.h.

◆ cp_offset

hrp::Vector3 Stabilizer::cp_offset

private

Definition at line 307 of file Stabilizer.h.

◆ current_base_pos

hrp::Vector3 Stabilizer::current_base_pos

private

Definition at line 307 of file Stabilizer.h.

◆ current_base_rpy

hrp::Vector3 Stabilizer::current_base_rpy

private

Definition at line 307 of file Stabilizer.h.

◆ current_root_p

hrp::Vector3 Stabilizer::current_root_p

private

Definition at line 300 of file Stabilizer.h.

◆ current_root_R

hrp::Matrix33 Stabilizer::current_root_R

private

Definition at line 301 of file Stabilizer.h.

◆ d_pos_z_root

double Stabilizer::d_pos_z_root

private

Definition at line 310 of file Stabilizer.h.

◆ d_rpy

double Stabilizer::d_rpy[2]

private

Definition at line 316 of file Stabilizer.h.

◆ d_run_b

double Stabilizer::d_run_b[2]

private

Definition at line 322 of file Stabilizer.h.

◆ detection_count_to_air

int Stabilizer::detection_count_to_air

private

Definition at line 297 of file Stabilizer.h.

◆ diff_cp

hrp::Vector3 Stabilizer::diff_cp

private

Definition at line 307 of file Stabilizer.h.

◆ diff_foot_origin_ext_moment

hrp::Vector3 Stabilizer::diff_foot_origin_ext_moment

private

Definition at line 328 of file Stabilizer.h.

◆ dt

double Stabilizer::dt

private

Definition at line 293 of file Stabilizer.h.

◆ eefm_body_attitude_control_gain

double Stabilizer::eefm_body_attitude_control_gain[2]

private

Definition at line 325 of file Stabilizer.h.

◆ eefm_body_attitude_control_time_const

double Stabilizer::eefm_body_attitude_control_time_const[2]

private

Definition at line 325 of file Stabilizer.h.

◆ eefm_gravitational_acceleration

double Stabilizer::eefm_gravitational_acceleration

private

Definition at line 326 of file Stabilizer.h.

◆ eefm_k1

double Stabilizer::eefm_k1[2]

private

Definition at line 325 of file Stabilizer.h.

◆ eefm_k2

double Stabilizer::eefm_k2[2]

private

Definition at line 325 of file Stabilizer.h.

◆ eefm_k3

double Stabilizer::eefm_k3[2]

private

Definition at line 325 of file Stabilizer.h.

◆ eefm_pos_margin_time

double Stabilizer::eefm_pos_margin_time

private

Definition at line 326 of file Stabilizer.h.

◆ eefm_pos_time_const_swing

double Stabilizer::eefm_pos_time_const_swing

private

Definition at line 326 of file Stabilizer.h.

◆ eefm_pos_transition_time

double Stabilizer::eefm_pos_transition_time

private

Definition at line 326 of file Stabilizer.h.

◆ eefm_swing_damping_force_thre

std::vector<double> Stabilizer::eefm_swing_damping_force_thre

private

Definition at line 327 of file Stabilizer.h.

◆ eefm_swing_damping_moment_thre

std::vector<double> Stabilizer::eefm_swing_damping_moment_thre

private

Definition at line 327 of file Stabilizer.h.

◆ eefm_swing_pos_damping_gain

hrp::Vector3 Stabilizer::eefm_swing_pos_damping_gain

private

Definition at line 333 of file Stabilizer.h.

◆ eefm_swing_rot_damping_gain

hrp::Vector3 Stabilizer::eefm_swing_rot_damping_gain

private

Definition at line 333 of file Stabilizer.h.

◆ eefm_use_force_difference_control

bool Stabilizer::eefm_use_force_difference_control

private

Definition at line 298 of file Stabilizer.h.

◆ eefm_use_swing_damping

bool Stabilizer::eefm_use_swing_damping

private

Definition at line 298 of file Stabilizer.h.

◆ eefm_zmp_delay_time_const

double Stabilizer::eefm_zmp_delay_time_const[2]

private

Definition at line 325 of file Stabilizer.h.

◆ emergency_check_mode

OpenHRP::StabilizerService::EmergencyCheckMode Stabilizer::emergency_check_mode

private

Definition at line 336 of file Stabilizer.h.

◆ foot_origin_offset

hrp::Vector3 Stabilizer::foot_origin_offset[2]

private

Definition at line 308 of file Stabilizer.h.

◆ initial_cp_too_large_error

bool Stabilizer::initial_cp_too_large_error

private

Definition at line 298 of file Stabilizer.h.

◆ is_air_counter

int Stabilizer::is_air_counter

private

Definition at line 297 of file Stabilizer.h.

◆ is_emergency

bool Stabilizer::is_emergency

private

Definition at line 298 of file Stabilizer.h.

◆ is_estop_while_walking

bool Stabilizer::is_estop_while_walking

private

Definition at line 299 of file Stabilizer.h.

◆ is_feedback_control_enable

std::vector<bool> Stabilizer::is_feedback_control_enable

private

Definition at line 291 of file Stabilizer.h.

◆ is_ik_enable

std::vector<bool> Stabilizer::is_ik_enable

private

Definition at line 291 of file Stabilizer.h.

◆ is_legged_robot

bool Stabilizer::is_legged_robot

private

Definition at line 298 of file Stabilizer.h.

◆ is_seq_interpolating

bool Stabilizer::is_seq_interpolating

private

Definition at line 298 of file Stabilizer.h.

◆ is_walking

bool Stabilizer::is_walking

private

Definition at line 299 of file Stabilizer.h.

◆ is_zmp_calc_enable

std::vector<bool> Stabilizer::is_zmp_calc_enable

private

Definition at line 291 of file Stabilizer.h.

◆ jpe_v

std::vector<hrp::JointPathExPtr> Stabilizer::jpe_v

private

Definition at line 284 of file Stabilizer.h.

◆ k_brot_p

double Stabilizer::k_brot_p[2]

private

Definition at line 316 of file Stabilizer.h.

◆ k_brot_tc

double Stabilizer::k_brot_tc[2]

private

Definition at line 316 of file Stabilizer.h.

◆ k_run_b

double Stabilizer::k_run_b[2]

private

Definition at line 322 of file Stabilizer.h.

◆ k_tpcc_p

double Stabilizer::k_tpcc_p[2]

private

Definition at line 316 of file Stabilizer.h.

◆ k_tpcc_x

double Stabilizer::k_tpcc_x[2]

private

Definition at line 316 of file Stabilizer.h.

◆ limb_stretch_avoidance_time_const

double Stabilizer::limb_stretch_avoidance_time_const

private

Definition at line 310 of file Stabilizer.h.

◆ limb_stretch_avoidance_vlimit

double Stabilizer::limb_stretch_avoidance_vlimit[2]

private

Definition at line 310 of file Stabilizer.h.

◆ loop

int Stabilizer::loop

private

Definition at line 294 of file Stabilizer.h.

◆ m_actBaseRpy

RTC::TimedOrientation3D Stabilizer::m_actBaseRpy

protected

Definition at line 185 of file Stabilizer.h.

◆ m_actBaseRpyOut

RTC::OutPort<RTC::TimedOrientation3D> Stabilizer::m_actBaseRpyOut

protected

Definition at line 230 of file Stabilizer.h.

◆ m_actContactStates

RTC::TimedBooleanSeq Stabilizer::m_actContactStates

protected

Definition at line 176 of file Stabilizer.h.

◆ m_actContactStatesOut

RTC::OutPort<RTC::TimedBooleanSeq> Stabilizer::m_actContactStatesOut

protected

Definition at line 224 of file Stabilizer.h.

◆ m_actCP

RTC::TimedPoint3D Stabilizer::m_actCP

protected

Definition at line 167 of file Stabilizer.h.

◆ m_actCPOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_actCPOut

protected

Definition at line 221 of file Stabilizer.h.

◆ m_allEEComp

RTC::TimedDoubleSeq Stabilizer::m_allEEComp

protected

Definition at line 189 of file Stabilizer.h.

◆ m_allEECompOut

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_allEECompOut

protected

Definition at line 234 of file Stabilizer.h.

◆ m_allRefWrench

RTC::TimedDoubleSeq Stabilizer::m_allRefWrench

protected

Definition at line 188 of file Stabilizer.h.

◆ m_allRefWrenchOut

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_allRefWrenchOut

protected

Definition at line 233 of file Stabilizer.h.

◆ m_basePos

RTC::TimedPoint3D Stabilizer::m_basePos

protected

Definition at line 170 of file Stabilizer.h.

◆ m_basePosIn

RTC::InPort<RTC::TimedPoint3D> Stabilizer::m_basePosIn

protected

Definition at line 198 of file Stabilizer.h.

◆ m_baseRpy

RTC::TimedOrientation3D Stabilizer::m_baseRpy

protected

Definition at line 171 of file Stabilizer.h.

◆ m_baseRpyIn

RTC::InPort<RTC::TimedOrientation3D> Stabilizer::m_baseRpyIn

protected

Definition at line 199 of file Stabilizer.h.

◆ m_contactStates

RTC::TimedBooleanSeq Stabilizer::m_contactStates

protected

Definition at line 172 of file Stabilizer.h.

◆ m_contactStatesIn

RTC::InPort<RTC::TimedBooleanSeq> Stabilizer::m_contactStatesIn

protected

Definition at line 200 of file Stabilizer.h.

◆ m_controlSwingSupportTime

RTC::TimedDoubleSeq Stabilizer::m_controlSwingSupportTime

protected

Definition at line 174 of file Stabilizer.h.

◆ m_controlSwingSupportTimeIn

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_controlSwingSupportTimeIn

protected

Definition at line 202 of file Stabilizer.h.

◆ m_COPInfo

RTC::TimedDoubleSeq Stabilizer::m_COPInfo

protected

Definition at line 177 of file Stabilizer.h.

◆ m_COPInfoOut

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_COPInfoOut

protected

Definition at line 225 of file Stabilizer.h.

◆ m_currentBasePos

RTC::TimedPoint3D Stabilizer::m_currentBasePos

protected

Definition at line 186 of file Stabilizer.h.

◆ m_currentBasePosOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_currentBasePosOut

protected

Definition at line 231 of file Stabilizer.h.

◆ m_currentBaseRpy

RTC::TimedOrientation3D Stabilizer::m_currentBaseRpy

protected

Definition at line 187 of file Stabilizer.h.

◆ m_currentBaseRpyOut

RTC::OutPort<RTC::TimedOrientation3D> Stabilizer::m_currentBaseRpyOut

protected

Definition at line 232 of file Stabilizer.h.

◆ m_debugData

RTC::TimedDoubleSeq Stabilizer::m_debugData

protected

Definition at line 190 of file Stabilizer.h.

◆ m_debugDataOut

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_debugDataOut

protected

Definition at line 235 of file Stabilizer.h.

◆ m_debugLevel

unsigned int Stabilizer::m_debugLevel

private

Definition at line 287 of file Stabilizer.h.

◆ m_diffCP

RTC::TimedPoint3D Stabilizer::m_diffCP

protected

Definition at line 168 of file Stabilizer.h.

◆ m_diffCPOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_diffCPOut

protected

Definition at line 222 of file Stabilizer.h.

◆ m_diffFootOriginExtMoment

RTC::TimedPoint3D Stabilizer::m_diffFootOriginExtMoment

protected

Definition at line 169 of file Stabilizer.h.

◆ m_diffFootOriginExtMomentOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_diffFootOriginExtMomentOut

protected

Definition at line 223 of file Stabilizer.h.

◆ m_emergencySignal

RTC::TimedLong Stabilizer::m_emergencySignal

protected

Definition at line 178 of file Stabilizer.h.

◆ m_emergencySignalOut

RTC::OutPort<RTC::TimedLong> Stabilizer::m_emergencySignalOut

protected

Definition at line 226 of file Stabilizer.h.

◆ m_f_z

TwoDofController Stabilizer::m_f_z

private

Definition at line 318 of file Stabilizer.h.

◆ m_is_falling_counter

int Stabilizer::m_is_falling_counter

private

Definition at line 295 of file Stabilizer.h.

◆ m_limbCOPOffset

std::vector<RTC::TimedPoint3D> Stabilizer::m_limbCOPOffset

protected

Definition at line 175 of file Stabilizer.h.

◆ m_limbCOPOffsetIn

std::vector<RTC::InPort<RTC::TimedPoint3D> *> Stabilizer::m_limbCOPOffsetIn

protected

Definition at line 203 of file Stabilizer.h.

◆ m_mutex

coil::Mutex Stabilizer::m_mutex

private

Definition at line 286 of file Stabilizer.h.

◆ m_originActCog

RTC::TimedPoint3D Stabilizer::m_originActCog

protected

Definition at line 184 of file Stabilizer.h.

◆ m_originActCogOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originActCogOut

protected

Definition at line 229 of file Stabilizer.h.

◆ m_originActCogVel

RTC::TimedPoint3D Stabilizer::m_originActCogVel

protected

Definition at line 184 of file Stabilizer.h.

◆ m_originActCogVelOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originActCogVelOut

protected

Definition at line 229 of file Stabilizer.h.

◆ m_originActZmp

RTC::TimedPoint3D Stabilizer::m_originActZmp

protected

Definition at line 184 of file Stabilizer.h.

◆ m_originActZmpOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originActZmpOut

protected

Definition at line 229 of file Stabilizer.h.

◆ m_originNewZmp

RTC::TimedPoint3D Stabilizer::m_originNewZmp

protected

Definition at line 183 of file Stabilizer.h.

◆ m_originNewZmpOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originNewZmpOut

protected

Definition at line 228 of file Stabilizer.h.

◆ m_originRefCog

RTC::TimedPoint3D Stabilizer::m_originRefCog

protected

Definition at line 183 of file Stabilizer.h.

◆ m_originRefCogOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originRefCogOut

protected

Definition at line 228 of file Stabilizer.h.

◆ m_originRefCogVel

RTC::TimedPoint3D Stabilizer::m_originRefCogVel

protected

Definition at line 183 of file Stabilizer.h.

◆ m_originRefCogVelOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originRefCogVelOut

protected

Definition at line 228 of file Stabilizer.h.

◆ m_originRefZmp

RTC::TimedPoint3D Stabilizer::m_originRefZmp

protected

Definition at line 183 of file Stabilizer.h.

◆ m_originRefZmpOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_originRefZmpOut

protected

Definition at line 228 of file Stabilizer.h.

◆ m_qCurrent

RTC::TimedDoubleSeq Stabilizer::m_qCurrent

protected

Definition at line 160 of file Stabilizer.h.

◆ m_qCurrentIn

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_qCurrentIn

protected

Definition at line 194 of file Stabilizer.h.

◆ m_qRef

RTC::TimedDoubleSeq Stabilizer::m_qRef

protected

Definition at line 161 of file Stabilizer.h.

◆ m_qRefIn

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_qRefIn

protected

Definition at line 195 of file Stabilizer.h.

◆ m_qRefOut

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_qRefOut

protected

Definition at line 217 of file Stabilizer.h.

◆ m_qRefSeq

RTC::TimedDoubleSeq Stabilizer::m_qRefSeq

protected

Definition at line 179 of file Stabilizer.h.

◆ m_qRefSeqIn

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_qRefSeqIn

protected

Definition at line 204 of file Stabilizer.h.

◆ m_ref_wrenches

std::vector<RTC::TimedDoubleSeq> Stabilizer::m_ref_wrenches

protected

Definition at line 210 of file Stabilizer.h.

◆ m_ref_wrenchesIn

std::vector<RTC::InPort<RTC::TimedDoubleSeq> *> Stabilizer::m_ref_wrenchesIn

protected

Definition at line 211 of file Stabilizer.h.

◆ m_refCP

RTC::TimedPoint3D Stabilizer::m_refCP

protected

Definition at line 166 of file Stabilizer.h.

◆ m_refCPOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_refCPOut

protected

Definition at line 220 of file Stabilizer.h.

◆ m_robot

hrp::BodyPtr Stabilizer::m_robot

private

Definition at line 285 of file Stabilizer.h.

◆ m_rpy

RTC::TimedOrientation3D Stabilizer::m_rpy

protected

Definition at line 163 of file Stabilizer.h.

◆ m_rpyIn

RTC::InPort<RTC::TimedOrientation3D> Stabilizer::m_rpyIn

protected

Definition at line 196 of file Stabilizer.h.

◆ m_sbpCogOffset

RTC::TimedPoint3D Stabilizer::m_sbpCogOffset

protected

Definition at line 181 of file Stabilizer.h.

◆ m_sbpCogOffsetIn

RTC::InPort<RTC::TimedPoint3D> Stabilizer::m_sbpCogOffsetIn

protected

Definition at line 206 of file Stabilizer.h.

◆ m_service0

StabilizerService_impl Stabilizer::m_service0

protected

Definition at line 252 of file Stabilizer.h.

◆ m_StabilizerServicePort

RTC::CorbaPort Stabilizer::m_StabilizerServicePort

protected

Definition at line 246 of file Stabilizer.h.

◆ m_tau

RTC::TimedDoubleSeq Stabilizer::m_tau

protected

Definition at line 162 of file Stabilizer.h.

◆ m_tau_x

TwoDofController Stabilizer::m_tau_x[2]

private

Definition at line 318 of file Stabilizer.h.

◆ m_tau_y

TwoDofController Stabilizer::m_tau_y[2]

private

Definition at line 318 of file Stabilizer.h.

◆ m_tauOut

RTC::OutPort<RTC::TimedDoubleSeq> Stabilizer::m_tauOut

protected

Definition at line 218 of file Stabilizer.h.

◆ m_toeheelRatio

RTC::TimedDoubleSeq Stabilizer::m_toeheelRatio

protected

Definition at line 173 of file Stabilizer.h.

◆ m_toeheelRatioIn

RTC::InPort<RTC::TimedDoubleSeq> Stabilizer::m_toeheelRatioIn

protected

Definition at line 201 of file Stabilizer.h.

◆ m_torque_d

double Stabilizer::m_torque_d[2]

private

Definition at line 320 of file Stabilizer.h.

◆ m_torque_k

double Stabilizer::m_torque_k[2]

private

Definition at line 320 of file Stabilizer.h.

◆ m_vfs

std::map<std::string, hrp::VirtualForceSensorParam> Stabilizer::m_vfs

private

Definition at line 283 of file Stabilizer.h.

◆ m_walkingStates

RTC::TimedBoolean Stabilizer::m_walkingStates

protected

Definition at line 180 of file Stabilizer.h.

◆ m_walkingStatesIn

RTC::InPort<RTC::TimedBoolean> Stabilizer::m_walkingStatesIn

protected

Definition at line 205 of file Stabilizer.h.

◆ m_will_fall_counter

std::vector<int> Stabilizer::m_will_fall_counter

private

Definition at line 296 of file Stabilizer.h.

◆ m_wrenches

std::vector<RTC::TimedDoubleSeq> Stabilizer::m_wrenches

protected

Definition at line 208 of file Stabilizer.h.

◆ m_wrenchesIn

std::vector<RTC::InPort<RTC::TimedDoubleSeq> *> Stabilizer::m_wrenchesIn

protected

Definition at line 209 of file Stabilizer.h.

◆ m_zmp

RTC::TimedPoint3D Stabilizer::m_zmp

protected

Definition at line 165 of file Stabilizer.h.

◆ m_zmpOut

RTC::OutPort<RTC::TimedPoint3D> Stabilizer::m_zmpOut

protected

Definition at line 219 of file Stabilizer.h.

◆ m_zmpRef

RTC::TimedPoint3D Stabilizer::m_zmpRef

protected

Definition at line 164 of file Stabilizer.h.

◆ m_zmpRefIn

RTC::InPort<RTC::TimedPoint3D> Stabilizer::m_zmpRefIn

protected

Definition at line 197 of file Stabilizer.h.

◆ margined_support_polygon_vetices

std::vector<std::vector<Eigen::Vector2d> > Stabilizer::margined_support_polygon_vetices

private

Definition at line 314 of file Stabilizer.h.

◆ new_refzmp

hrp::Vector3 Stabilizer::new_refzmp

private

Definition at line 328 of file Stabilizer.h.

◆ on_ground

bool Stabilizer::on_ground

private

Definition at line 298 of file Stabilizer.h.

◆ pangx

double Stabilizer::pangx

private

Definition at line 321 of file Stabilizer.h.

◆ pangx_ref

double Stabilizer::pangx_ref

private

Definition at line 321 of file Stabilizer.h.

◆ pangy

double Stabilizer::pangy

private

Definition at line 321 of file Stabilizer.h.

◆ pangy_ref

double Stabilizer::pangy_ref

private

Definition at line 321 of file Stabilizer.h.

◆ pdr

hrp::Vector3 Stabilizer::pdr

private

Definition at line 319 of file Stabilizer.h.

◆ pos_ctrl

hrp::Vector3 Stabilizer::pos_ctrl

private

Definition at line 329 of file Stabilizer.h.

◆ prev_act_cog

hrp::Vector3 Stabilizer::prev_act_cog

private

Definition at line 307 of file Stabilizer.h.

◆ prev_act_foot_origin_rot

hrp::Matrix33 Stabilizer::prev_act_foot_origin_rot

private

Definition at line 301 of file Stabilizer.h.

◆ prev_act_force_z

std::vector<double> Stabilizer::prev_act_force_z

private

Definition at line 309 of file Stabilizer.h.

◆ prev_ref_cog

hrp::Vector3 Stabilizer::prev_ref_cog

private

Definition at line 306 of file Stabilizer.h.

◆ prev_ref_contact_states

std::vector<bool> Stabilizer::prev_ref_contact_states

private

Definition at line 291 of file Stabilizer.h.

◆ prev_ref_foot_origin_rot

hrp::Matrix33 Stabilizer::prev_ref_foot_origin_rot

private

Definition at line 301 of file Stabilizer.h.

◆ prev_ref_zmp

hrp::Vector3 Stabilizer::prev_ref_zmp

private

Definition at line 306 of file Stabilizer.h.

◆ projected_normal

std::vector<hrp::Vector3> Stabilizer::projected_normal

private

Definition at line 302 of file Stabilizer.h.

◆ qorg

hrp::dvector Stabilizer::qorg

private

Definition at line 288 of file Stabilizer.h.

◆ qrefv

hrp::dvector Stabilizer::qrefv

private

Definition at line 288 of file Stabilizer.h.

◆ rdx

double Stabilizer::rdx

private

Definition at line 323 of file Stabilizer.h.

◆ rdy

double Stabilizer::rdy

private

Definition at line 323 of file Stabilizer.h.

◆ ref_cog

hrp::Vector3 Stabilizer::ref_cog

private

Definition at line 306 of file Stabilizer.h.

◆ ref_cogvel

hrp::Vector3 Stabilizer::ref_cogvel

private

Definition at line 306 of file Stabilizer.h.

◆ ref_contact_states

std::vector<bool> Stabilizer::ref_contact_states

private

Definition at line 291 of file Stabilizer.h.

◆ ref_cp

hrp::Vector3 Stabilizer::ref_cp

private

Definition at line 306 of file Stabilizer.h.

◆ ref_foot_origin_rot

hrp::Matrix33 Stabilizer::ref_foot_origin_rot

private

Definition at line 301 of file Stabilizer.h.

◆ ref_force

std::vector<hrp::Vector3> Stabilizer::ref_force

private

Definition at line 302 of file Stabilizer.h.

◆ ref_moment

std::vector<hrp::Vector3> Stabilizer::ref_moment

private

Definition at line 302 of file Stabilizer.h.

◆ ref_total_foot_origin_moment

hrp::Vector3 Stabilizer::ref_total_foot_origin_moment

private

Definition at line 332 of file Stabilizer.h.

◆ ref_total_force

hrp::Vector3 Stabilizer::ref_total_force

private

Definition at line 330 of file Stabilizer.h.

◆ ref_total_moment

hrp::Vector3 Stabilizer::ref_total_moment

private

Definition at line 330 of file Stabilizer.h.

◆ ref_zmp

hrp::Vector3 Stabilizer::ref_zmp

private

Definition at line 306 of file Stabilizer.h.

◆ ref_zmp_aux

hrp::Vector3 Stabilizer::ref_zmp_aux

private

Definition at line 328 of file Stabilizer.h.

◆ rel_act_cp

hrp::Vector3 Stabilizer::rel_act_cp

private

Definition at line 307 of file Stabilizer.h.

◆ rel_act_zmp

hrp::Vector3 Stabilizer::rel_act_zmp

private

Definition at line 307 of file Stabilizer.h.

◆ rel_cog

hrp::Vector3 Stabilizer::rel_cog

private

Definition at line 328 of file Stabilizer.h.

◆ rel_ee_name

std::vector<std::string> Stabilizer::rel_ee_name

private

Definition at line 304 of file Stabilizer.h.

◆ rel_ee_pos

std::vector<hrp::Vector3> Stabilizer::rel_ee_pos

private

Definition at line 302 of file Stabilizer.h.

◆ rel_ee_rot

std::vector<hrp::Matrix33> Stabilizer::rel_ee_rot

private

Definition at line 303 of file Stabilizer.h.

◆ rel_ref_cp

hrp::Vector3 Stabilizer::rel_ref_cp

private

Definition at line 306 of file Stabilizer.h.

◆ reset_emergency_flag

bool Stabilizer::reset_emergency_flag

private

Definition at line 298 of file Stabilizer.h.

◆ root_rot_compensation_limit

double Stabilizer::root_rot_compensation_limit[2]

private

Definition at line 310 of file Stabilizer.h.

◆ rx

double Stabilizer::rx

private

Definition at line 323 of file Stabilizer.h.

◆ ry

double Stabilizer::ry

private

Definition at line 323 of file Stabilizer.h.

◆ sbp_cog_offset

hrp::Vector3 Stabilizer::sbp_cog_offset

private

Definition at line 307 of file Stabilizer.h.

◆ st_algorithm

OpenHRP::StabilizerService::STAlgorithm Stabilizer::st_algorithm

private

Definition at line 312 of file Stabilizer.h.

◆ stikp

std::vector<STIKParam> Stabilizer::stikp

private

Definition at line 289 of file Stabilizer.h.

◆ support_polygon_vetices

std::vector<std::vector<Eigen::Vector2d> > Stabilizer::support_polygon_vetices

private

Definition at line 314 of file Stabilizer.h.

◆ szd

SimpleZMPDistributor* Stabilizer::szd

private

Definition at line 313 of file Stabilizer.h.

◆ target_ee_p

std::vector<hrp::Vector3> Stabilizer::target_ee_p

private

Definition at line 302 of file Stabilizer.h.

◆ target_ee_R

std::vector<hrp::Matrix33> Stabilizer::target_ee_R

private

Definition at line 303 of file Stabilizer.h.

◆ target_foot_midcoords

rats::coordinates Stabilizer::target_foot_midcoords

private

Definition at line 305 of file Stabilizer.h.

◆ target_foot_origin_rot

hrp::Matrix33 Stabilizer::target_foot_origin_rot

private

Definition at line 301 of file Stabilizer.h.

◆ target_root_p

hrp::Vector3 Stabilizer::target_root_p

private

Definition at line 300 of file Stabilizer.h.

◆ target_root_R

hrp::Matrix33 Stabilizer::target_root_R

private

Definition at line 301 of file Stabilizer.h.

◆ tilt_margin

std::vector<double> Stabilizer::tilt_margin

private

Definition at line 335 of file Stabilizer.h.

◆ toeheel_ratio

std::vector<double> Stabilizer::toeheel_ratio

private

Definition at line 292 of file Stabilizer.h.

◆ total_mass

double Stabilizer::total_mass

private

Definition at line 334 of file Stabilizer.h.

◆ transition_count

int Stabilizer::transition_count

private

Definition at line 294 of file Stabilizer.h.

◆ transition_joint_q

hrp::dvector Stabilizer::transition_joint_q

private

Definition at line 288 of file Stabilizer.h.

◆ transition_smooth_gain

double Stabilizer::transition_smooth_gain

private

Definition at line 310 of file Stabilizer.h.

◆ transition_time

double Stabilizer::transition_time

private

Definition at line 334 of file Stabilizer.h.

◆ use_limb_stretch_avoidance

bool Stabilizer::use_limb_stretch_avoidance

private

Definition at line 298 of file Stabilizer.h.

◆ use_zmp_truncation

bool Stabilizer::use_zmp_truncation

private

Definition at line 298 of file Stabilizer.h.

◆ zmp_origin_off

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:

Classes

Public Member Functions

Protected Attributes

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ cmode

Constructor & Destructor Documentation

◆ Stabilizer()

◆ ~Stabilizer()

Member Function Documentation

◆ calcContactMatrix()

◆ calcDampingControl() [1/4]

◆ calcDampingControl() [2/4]

◆ calcDampingControl() [3/4]

◆ calcDampingControl() [4/4]

◆ calcDiffFootOriginExtMoment()

◆ calcEEForceMomentControl()

◆ calcFootOriginCoords()

◆ calcMaxTransitionCount()

◆ calcRUNST()

◆ calcStateForEmergencySignal()

◆ calcSwingEEModification()

◆ calcSwingSupportLimbGain()

◆ calcTorque()

◆ calcTPCC()

◆ calcZMP()

◆ fixLegToCoords()

◆ getActualParameters()

◆ getCurrentParameters()

◆ getFootmidCoords()

◆ getParameter()

◆ getStabilizerAlgorithmString()

◆ getTargetParameters()

◆ isContact()

◆ limbStretchAvoidanceControl()

◆ moveBasePosRotForBodyRPYControl()

◆ onActivated()

◆ onDeactivated()

◆ onExecute()

◆ onFinalize()

◆ onInitialize()

◆ setBoolSequenceParam()

◆ setBoolSequenceParamWithCheckContact()

◆ setParameter()

◆ startStabilizer()

◆ stopStabilizer()

◆ sync_2_idle()

◆ sync_2_st()

◆ vlimit() [1/4]

◆ vlimit() [2/4]

◆ vlimit() [3/4]

◆ vlimit() [4/4]

◆ waitSTTransition()

Member Data Documentation

◆ act_base_rpy

◆ act_cog

◆ act_cogvel

◆ act_cogvel_filter

◆ act_contact_states

◆ act_cp

◆ act_ee_p

◆ act_ee_R

◆ act_force

◆ act_total_foot_origin_moment

◆ act_zmp

◆ contact_decision_threshold

◆ contact_states_index_map

◆ control_mode

◆ cop_check_margin

◆ cp_check_margin

◆ cp_offset

◆ current_base_pos

◆ current_base_rpy

◆ current_root_p

◆ current_root_R

◆ d_pos_z_root

◆ d_rpy