#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 () | |
Definition at line 253 of file thormang3_balance_control.h.
BalanceControlUsingPDController::BalanceControlUsingPDController | ( | ) |
Definition at line 552 of file thormang3_balance_control.cpp.
BalanceControlUsingPDController::~BalanceControlUsingPDController | ( | ) |
Definition at line 623 of file thormang3_balance_control.cpp.
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.
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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.
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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_ |
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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.
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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.
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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.