StandardRomeoInvDynCtrl Class Reference

Public Member Functions
	StandardRomeoInvDynCtrl (double dt)

Public Attributes
std::shared_ptr< TaskComEquality >	comTask
std::shared_ptr< Contact6d >	contactLF
std::shared_ptr< Contact6d >	contactRF
pinocchio::SE3	H_lf_ref
pinocchio::SE3	H_rf_ref
std::shared_ptr< TaskJointBounds >	jointBoundsTask
std::shared_ptr< TaskJointPosture >	postureTask
Vector	q
std::shared_ptr< RobotWrapper >	robot
double	t
std::shared_ptr< InverseDynamicsFormulationAccForce >	tsid
Vector	v

Static Public Attributes
static const Vector3	contactNormal = Vector3::UnitZ()
static const double	fMax = 1000.0
static const double	fMin = 5.0
static const double	kp_com = 30.0
static const double	kp_contact = 100.0
static const double	kp_posture = 30.0
static const std::string	lf_frame_name = "LAnkleRoll"
static const double	lxn = 0.077
static const double	lxp = 0.14
static const double	lyn = 0.069
static const double	lyp = 0.069
static const double	lz = 0.105
static const double	mu = 0.3
static const std::string	rf_frame_name = "RAnkleRoll"
static const double	w_com = 1.0
static const double	w_forceReg = 1e-5
static const double	w_posture = 1e-2

Detailed Description

Definition at line 77 of file tsid-formulation.cpp.

Constructor & Destructor Documentation

StandardRomeoInvDynCtrl()

StandardRomeoInvDynCtrl::StandardRomeoInvDynCtrl ( double  dt )

inline

Definition at line 110 of file tsid-formulation.cpp.

Member Data Documentation

comTask

std::shared_ptr<TaskComEquality> StandardRomeoInvDynCtrl::comTask

Definition at line 102 of file tsid-formulation.cpp.

contactLF

std::shared_ptr<Contact6d> StandardRomeoInvDynCtrl::contactLF

Definition at line 101 of file tsid-formulation.cpp.

contactNormal

const Vector3 StandardRomeoInvDynCtrl::contactNormal = Vector3::UnitZ()

static

Definition at line 89 of file tsid-formulation.cpp.

contactRF

std::shared_ptr<Contact6d> StandardRomeoInvDynCtrl::contactRF

Definition at line 100 of file tsid-formulation.cpp.

fMax

const double StandardRomeoInvDynCtrl::fMax = 1000.0

static

Definition at line 86 of file tsid-formulation.cpp.

fMin

const double StandardRomeoInvDynCtrl::fMin = 5.0

static

Definition at line 85 of file tsid-formulation.cpp.

H_lf_ref

pinocchio::SE3 StandardRomeoInvDynCtrl::H_lf_ref

Definition at line 108 of file tsid-formulation.cpp.

H_rf_ref

pinocchio::SE3 StandardRomeoInvDynCtrl::H_rf_ref

Definition at line 107 of file tsid-formulation.cpp.

jointBoundsTask

std::shared_ptr<TaskJointBounds> StandardRomeoInvDynCtrl::jointBoundsTask

Definition at line 104 of file tsid-formulation.cpp.

kp_com

const double StandardRomeoInvDynCtrl::kp_com = 30.0

static

Definition at line 94 of file tsid-formulation.cpp.

kp_contact

const double StandardRomeoInvDynCtrl::kp_contact = 100.0

static

Definition at line 93 of file tsid-formulation.cpp.

kp_posture

const double StandardRomeoInvDynCtrl::kp_posture = 30.0

static

Definition at line 95 of file tsid-formulation.cpp.

lf_frame_name

const std::string StandardRomeoInvDynCtrl::lf_frame_name = "LAnkleRoll"

static

Definition at line 88 of file tsid-formulation.cpp.

lxn

const double StandardRomeoInvDynCtrl::lxn = 0.077

static

Definition at line 80 of file tsid-formulation.cpp.

lxp

const double StandardRomeoInvDynCtrl::lxp = 0.14

static

Definition at line 79 of file tsid-formulation.cpp.

lyn

const double StandardRomeoInvDynCtrl::lyn = 0.069

static

Definition at line 82 of file tsid-formulation.cpp.

lyp

const double StandardRomeoInvDynCtrl::lyp = 0.069

static

Definition at line 81 of file tsid-formulation.cpp.

lz

const double StandardRomeoInvDynCtrl::lz = 0.105

static

Definition at line 83 of file tsid-formulation.cpp.

mu

const double StandardRomeoInvDynCtrl::mu = 0.3

static

Definition at line 84 of file tsid-formulation.cpp.

postureTask

std::shared_ptr<TaskJointPosture> StandardRomeoInvDynCtrl::postureTask

Definition at line 103 of file tsid-formulation.cpp.

q

Vector StandardRomeoInvDynCtrl::q

Definition at line 105 of file tsid-formulation.cpp.

rf_frame_name

const std::string StandardRomeoInvDynCtrl::rf_frame_name = "RAnkleRoll"

static

Definition at line 87 of file tsid-formulation.cpp.

robot

std::shared_ptr<RobotWrapper> StandardRomeoInvDynCtrl::robot

Definition at line 98 of file tsid-formulation.cpp.

t

double StandardRomeoInvDynCtrl::t

Definition at line 96 of file tsid-formulation.cpp.

tsid

std::shared_ptr<InverseDynamicsFormulationAccForce> StandardRomeoInvDynCtrl::tsid

Definition at line 99 of file tsid-formulation.cpp.

v

Vector StandardRomeoInvDynCtrl::v

Definition at line 106 of file tsid-formulation.cpp.

w_com

const double StandardRomeoInvDynCtrl::w_com = 1.0

static

Definition at line 90 of file tsid-formulation.cpp.

w_forceReg

const double StandardRomeoInvDynCtrl::w_forceReg = 1e-5

static

Definition at line 92 of file tsid-formulation.cpp.

w_posture

const double StandardRomeoInvDynCtrl::w_posture = 1e-2

static

Definition at line 91 of file tsid-formulation.cpp.

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

• tsid-formulation.cpp