Classes | Public Member Functions | Protected Attributes | Private Types | Private Member Functions | Private Attributes
AutoBalancer Class Reference

#include <AutoBalancer.h>

Inheritance diagram for AutoBalancer:
Inheritance graph
[legend]

List of all members.

Classes

struct  ABCIKparam

Public Member Functions

bool adjustFootSteps (const OpenHRP::AutoBalancerService::Footstep &rfootstep, const OpenHRP::AutoBalancerService::Footstep &lfootstep)
 AutoBalancer (RTC::Manager *manager)
void distributeReferenceZMPToWrenches (const hrp::Vector3 &_ref_zmp)
bool emergencyStop ()
bool getAutoBalancerParam (OpenHRP::AutoBalancerService::AutoBalancerParam &i_param)
bool getFootstepParam (OpenHRP::AutoBalancerService::FootstepParam &i_param)
bool getGaitGeneratorParam (OpenHRP::AutoBalancerService::GaitGeneratorParam &i_param)
bool getGoPosFootstepsSequence (const double &x, const double &y, const double &th, OpenHRP::AutoBalancerService::FootstepsSequence_out o_footstep)
bool getRemainingFootstepSequence (OpenHRP::AutoBalancerService::FootstepSequence_out o_footstep, CORBA::Long &o_current_fs_idx)
bool goPos (const double &x, const double &y, const double &th)
bool goStop ()
bool goVelocity (const double &vx, const double &vy, const double &vth)
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 ()
bool releaseEmergencyStop ()
bool setAutoBalancerParam (const OpenHRP::AutoBalancerService::AutoBalancerParam &i_param)
bool setFootSteps (const OpenHRP::AutoBalancerService::FootstepSequence &fs, CORBA::Long overwrite_fs_idx)
bool setFootSteps (const OpenHRP::AutoBalancerService::FootstepsSequence &fss, CORBA::Long overwrite_fs_idx)
bool setFootStepsWithParam (const OpenHRP::AutoBalancerService::FootstepSequence &fs, const OpenHRP::AutoBalancerService::StepParamSequence &sps, CORBA::Long overwrite_fs_idx)
bool setFootStepsWithParam (const OpenHRP::AutoBalancerService::FootstepsSequence &fss, const OpenHRP::AutoBalancerService::StepParamsSequence &spss, CORBA::Long overwrite_fs_idx)
bool setGaitGeneratorParam (const OpenHRP::AutoBalancerService::GaitGeneratorParam &i_param)
bool startAutoBalancer (const ::OpenHRP::AutoBalancerService::StrSequence &limbs)
bool stopAutoBalancer ()
void waitFootSteps ()
void waitFootStepsEarly (const double tm)
virtual ~AutoBalancer ()

Protected Attributes

TimedAcceleration3D m_accRef
OutPort< TimedAcceleration3D > m_accRefOut
TimedBooleanSeq m_actContactStates
InPort< TimedBooleanSeq > m_actContactStatesIn
RTC::CorbaPort m_AutoBalancerServicePort
TimedPoint3D m_basePos
TimedPose3D m_basePose
OutPort< TimedPose3D > m_basePoseOut
InPort< TimedPoint3D > m_basePosIn
OutPort< TimedPoint3D > m_basePosOut
TimedOrientation3D m_baseRpy
InPort< TimedOrientation3D > m_baseRpyIn
OutPort< TimedOrientation3D > m_baseRpyOut
TimedDoubleSeq m_baseTform
OutPort< TimedDoubleSeq > m_baseTformOut
TimedPoint3D m_cog
OutPort< TimedPoint3D > m_cogOut
TimedBooleanSeq m_contactStates
OutPort< TimedBooleanSeq > m_contactStatesOut
TimedDoubleSeq m_controlSwingSupportTime
OutPort< TimedDoubleSeq > m_controlSwingSupportTimeOut
TimedPoint3D m_diffCP
InPort< TimedPoint3D > m_diffCPIn
TimedLong m_emergencySignal
InPort< TimedLong > m_emergencySignalIn
std::vector< TimedDoubleSeq > m_force
std::vector< TimedPoint3D > m_limbCOPOffset
std::vector< OutPort
< TimedPoint3D > * > 
m_limbCOPOffsetOut
TimedDoubleSeq m_optionalData
InPort< TimedDoubleSeq > m_optionalDataIn
OutPort< TimedDoubleSeq > m_qOut
TimedDoubleSeq m_qRef
InPort< TimedDoubleSeq > m_qRefIn
std::vector< TimedDoubleSeq > m_ref_force
std::vector< InPort
< TimedDoubleSeq > * > 
m_ref_forceIn
std::vector< OutPort
< TimedDoubleSeq > * > 
m_ref_forceOut
TimedPoint3D m_refFootOriginExtMoment
InPort< TimedPoint3D > m_refFootOriginExtMomentIn
TimedBoolean m_refFootOriginExtMomentIsHoldValue
InPort< TimedBoolean > m_refFootOriginExtMomentIsHoldValueIn
TimedPoint3D m_sbpCogOffset
OutPort< TimedPoint3D > m_sbpCogOffsetOut
AutoBalancerService_impl m_service0
TimedDoubleSeq m_toeheelRatio
OutPort< TimedDoubleSeq > m_toeheelRatioOut
TimedBoolean m_walkingStates
OutPort< TimedBoolean > m_walkingStatesOut
TimedPoint3D m_zmp
InPort< TimedPoint3D > m_zmpIn
RTC::OutPort< RTC::TimedPoint3D > m_zmpOut

Private Types

enum  {
  BIPED, TROT, PACE, CRAWL,
  GALLOP
}
enum  { MODE_IDLE, MODE_ABC, MODE_SYNC_TO_IDLE, MODE_SYNC_TO_ABC }
enum  { MODE_NO_FORCE, MODE_REF_FORCE, MODE_REF_FORCE_WITH_FOOT, MODE_REF_FORCE_RFU_EXT_MOMENT }
typedef boost::shared_ptr
< SimpleFullbodyInverseKinematicsSolver
fikPtr
typedef boost::shared_ptr
< rats::gait_generator
ggPtr

Private Member Functions

bool calc_inital_support_legs (const double &y, std::vector< rats::coordinates > &initial_support_legs_coords, std::vector< rats::leg_type > &initial_support_legs, rats::coordinates &start_ref_coords)
void calc_static_balance_point_from_forces (hrp::Vector3 &sb_point, const hrp::Vector3 &tmpcog, const double ref_com_height, std::vector< hrp::Vector3 > &tmp_forces)
hrp::Vector3 calc_vel_from_hand_error (const rats::coordinates &tmp_fix_coords)
void calcFixCoordsForAdjustFootstep (rats::coordinates &tmp_fix_coords)
hrp::Vector3 calcFootMidPosUsingZMPWeightMap ()
void calcReferenceJointAnglesForIK ()
void calculateOutputRefForces ()
void copyRatscoords2Footstep (OpenHRP::AutoBalancerService::Footstep &out_fs, const rats::coordinates &in_fs)
void fixLegToCoords (const hrp::Vector3 &fix_pos, const hrp::Matrix33 &fix_rot)
void fixLegToCoords2 (rats::coordinates &tmp_fix_coords)
void getOutputParametersForABC ()
void getOutputParametersForIDLE ()
void getOutputParametersForWalking ()
void getTargetParameters ()
std::string getUseForceModeString ()
void interpolateLegNamesAndZMPOffsets ()
bool isOptionalDataContact (const std::string &ee_name)
hrp::Matrix33 OrientRotationMatrix (const hrp::Matrix33 &rot, const hrp::Vector3 &axis1, const hrp::Vector3 &axis2)
void rotateRefForcesForFixCoords (rats::coordinates &tmp_fix_coords)
void solveFullbodyIK ()
void startABCparam (const ::OpenHRP::AutoBalancerService::StrSequence &limbs)
bool startWalking ()
void static_balance_point_proc_one (hrp::Vector3 &tmp_input_sbp, const double ref_com_height)
void stopABCparam ()
void stopWalking ()
void updateTargetCoordsForHandFixMode (rats::coordinates &tmp_fix_coords)
void updateWalkingVelocityFromHandError (rats::coordinates &tmp_fix_coords)
void waitABCTransition ()

Private Attributes

hrp::Linkadditional_force_applied_link
hrp::Vector3 additional_force_applied_point_offset
interpolatoradjust_footstep_interpolator
double adjust_footstep_transition_time
std::map< std::string, size_t > contact_states_index_map
enum AutoBalancer:: { ... }  control_mode
double d_pos_z_root
std::vector< hrp::Vector3default_zmp_offsets
std::vector< std::string > ee_vec
fikPtr fik
rats::coordinates fix_leg_coords
rats::coordinates fix_leg_coords2
enum AutoBalancer:: { ... }  gait_type
ggPtr gg
bool gg_is_walking
bool gg_solved
std::string graspless_manip_arm
bool graspless_manip_mode
hrp::Vector3 graspless_manip_p_gain
rats::coordinates graspless_manip_reference_trans_coords
hrp::Vector3 hand_fix_initial_offset
hrp::InvDynStateBuffer idsb
std::map< std::string, ABCIKparamikp
hrp::Vector3 input_basePos
hrp::Matrix33 input_baseRot
hrp::Vector3 input_zmp
std::vector< IIRFilterinvdyn_zmp_filters
bool is_hand_fix_initial
bool is_hand_fix_mode
bool is_legged_robot
bool is_stop_mode
std::vector< std::string > leg_names
interpolatorleg_names_interpolator
double leg_names_interpolator_ratio
double limb_stretch_avoidance_time_const
double limb_stretch_avoidance_vlimit [2]
int loop
unsigned int m_debugLevel
double m_dt
coil::Mutex m_mutex
hrp::BodyPtr m_robot
std::map< std::string,
hrp::VirtualForceSensorParam
m_vfs
hrp::Vector3 prev_imu_sensor_pos
hrp::Vector3 prev_imu_sensor_vel
hrp::Vector3 prev_ref_zmp
hrp::Vector3 ref_cog
std::vector< hrp::Vector3ref_forces
hrp::Vector3 ref_zmp
hrp::Vector3 sbp_cog_offset
hrp::Vector3 sbp_offset
std::vector< std::string > sensor_names
hrp::Vector3 target_root_p
hrp::Matrix33 target_root_R
interpolatortransition_interpolator
double transition_interpolator_ratio
double transition_time
enum AutoBalancer:: { ... }  use_force
bool use_limb_stretch_avoidance
interpolatorzmp_offset_interpolator
double zmp_transition_time

Detailed Description

Definition at line 42 of file AutoBalancer.h.


Member Typedef Documentation

typedef boost::shared_ptr<SimpleFullbodyInverseKinematicsSolver> AutoBalancer::fikPtr [private]

Definition at line 249 of file AutoBalancer.h.

typedef boost::shared_ptr<rats::gait_generator> AutoBalancer::ggPtr [private]

Definition at line 245 of file AutoBalancer.h.


Member Enumeration Documentation

anonymous enum [private]
Enumerator:
BIPED 
TROT 
PACE 
CRAWL 
GALLOP 

Definition at line 252 of file AutoBalancer.h.

anonymous enum [private]
Enumerator:
MODE_IDLE 
MODE_ABC 
MODE_SYNC_TO_IDLE 
MODE_SYNC_TO_ABC 

Definition at line 253 of file AutoBalancer.h.

anonymous enum [private]
Enumerator:
MODE_NO_FORCE 
MODE_REF_FORCE 
MODE_REF_FORCE_WITH_FOOT 
MODE_REF_FORCE_RFU_EXT_MOMENT 

Definition at line 278 of file AutoBalancer.h.


Constructor & Destructor Documentation

Definition at line 54 of file AutoBalancer.cpp.

Definition at line 89 of file AutoBalancer.cpp.


Member Function Documentation

bool AutoBalancer::adjustFootSteps ( const OpenHRP::AutoBalancerService::Footstep &  rfootstep,
const OpenHRP::AutoBalancerService::Footstep &  lfootstep 
)

Definition at line 1906 of file AutoBalancer.cpp.

bool AutoBalancer::calc_inital_support_legs ( const double &  y,
std::vector< rats::coordinates > &  initial_support_legs_coords,
std::vector< rats::leg_type > &  initial_support_legs,
rats::coordinates start_ref_coords 
) [private]

Definition at line 2130 of file AutoBalancer.cpp.

void AutoBalancer::calc_static_balance_point_from_forces ( hrp::Vector3 sb_point,
const hrp::Vector3 tmpcog,
const double  ref_com_height,
std::vector< hrp::Vector3 > &  tmp_forces 
) [private]

Definition at line 2033 of file AutoBalancer.cpp.

Definition at line 2090 of file AutoBalancer.cpp.

Definition at line 882 of file AutoBalancer.cpp.

Definition at line 981 of file AutoBalancer.cpp.

Definition at line 1011 of file AutoBalancer.cpp.

Definition at line 956 of file AutoBalancer.cpp.

void AutoBalancer::copyRatscoords2Footstep ( OpenHRP::AutoBalancerService::Footstep &  out_fs,
const rats::coordinates in_fs 
) [private]

Definition at line 1875 of file AutoBalancer.cpp.

Definition at line 2179 of file AutoBalancer.cpp.

Definition at line 1316 of file AutoBalancer.cpp.

void AutoBalancer::fixLegToCoords ( const hrp::Vector3 fix_pos,
const hrp::Matrix33 fix_rot 
) [private]

Definition at line 1037 of file AutoBalancer.cpp.

void AutoBalancer::fixLegToCoords2 ( rats::coordinates tmp_fix_coords) [private]

Definition at line 1057 of file AutoBalancer.cpp.

bool AutoBalancer::getAutoBalancerParam ( OpenHRP::AutoBalancerService::AutoBalancerParam &  i_param)

Definition at line 1794 of file AutoBalancer.cpp.

bool AutoBalancer::getFootstepParam ( OpenHRP::AutoBalancerService::FootstepParam &  i_param)

Definition at line 1885 of file AutoBalancer.cpp.

bool AutoBalancer::getGaitGeneratorParam ( OpenHRP::AutoBalancerService::GaitGeneratorParam &  i_param)

Definition at line 1554 of file AutoBalancer.cpp.

bool AutoBalancer::getGoPosFootstepsSequence ( const double &  x,
const double &  y,
const double &  th,
OpenHRP::AutoBalancerService::FootstepsSequence_out  o_footstep 
)

Definition at line 1985 of file AutoBalancer.cpp.

Definition at line 802 of file AutoBalancer.cpp.

Definition at line 832 of file AutoBalancer.cpp.

Definition at line 762 of file AutoBalancer.cpp.

bool AutoBalancer::getRemainingFootstepSequence ( OpenHRP::AutoBalancerService::FootstepSequence_out  o_footstep,
CORBA::Long &  o_current_fs_idx 
)

Definition at line 1970 of file AutoBalancer.cpp.

Definition at line 665 of file AutoBalancer.cpp.

std::string AutoBalancer::getUseForceModeString ( ) [private]

Definition at line 2279 of file AutoBalancer.cpp.

bool AutoBalancer::goPos ( const double &  x,
const double &  y,
const double &  th 
)

Definition at line 1245 of file AutoBalancer.cpp.

Definition at line 1309 of file AutoBalancer.cpp.

bool AutoBalancer::goVelocity ( const double &  vx,
const double &  vy,
const double &  vth 
)

Definition at line 1273 of file AutoBalancer.cpp.

Definition at line 859 of file AutoBalancer.cpp.

bool AutoBalancer::isOptionalDataContact ( const std::string &  ee_name) [inline, private]

Definition at line 237 of file AutoBalancer.h.

Reimplemented from RTC::RTObject_impl.

Definition at line 411 of file AutoBalancer.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 418 of file AutoBalancer.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 433 of file AutoBalancer.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 388 of file AutoBalancer.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 94 of file AutoBalancer.cpp.

Definition at line 1026 of file AutoBalancer.cpp.

Definition at line 1325 of file AutoBalancer.cpp.

Definition at line 900 of file AutoBalancer.cpp.

bool AutoBalancer::setAutoBalancerParam ( const OpenHRP::AutoBalancerService::AutoBalancerParam &  i_param)

Definition at line 1645 of file AutoBalancer.cpp.

bool AutoBalancer::setFootSteps ( const OpenHRP::AutoBalancerService::FootstepSequence &  fs,
CORBA::Long  overwrite_fs_idx 
)
bool AutoBalancer::setFootSteps ( const OpenHRP::AutoBalancerService::FootstepsSequence &  fss,
CORBA::Long  overwrite_fs_idx 
)

Definition at line 1334 of file AutoBalancer.cpp.

bool AutoBalancer::setFootStepsWithParam ( const OpenHRP::AutoBalancerService::FootstepSequence &  fs,
const OpenHRP::AutoBalancerService::StepParamSequence &  sps,
CORBA::Long  overwrite_fs_idx 
)
bool AutoBalancer::setFootStepsWithParam ( const OpenHRP::AutoBalancerService::FootstepsSequence &  fss,
const OpenHRP::AutoBalancerService::StepParamsSequence &  spss,
CORBA::Long  overwrite_fs_idx 
)

Definition at line 1352 of file AutoBalancer.cpp.

bool AutoBalancer::setGaitGeneratorParam ( const OpenHRP::AutoBalancerService::GaitGeneratorParam &  i_param)

Definition at line 1466 of file AutoBalancer.cpp.

Definition at line 1076 of file AutoBalancer.cpp.

void AutoBalancer::startABCparam ( const ::OpenHRP::AutoBalancerService::StrSequence &  limbs) [private]

Definition at line 1136 of file AutoBalancer.cpp.

bool AutoBalancer::startAutoBalancer ( const ::OpenHRP::AutoBalancerService::StrSequence &  limbs)

Definition at line 1217 of file AutoBalancer.cpp.

bool AutoBalancer::startWalking ( ) [private]

Definition at line 1171 of file AutoBalancer.cpp.

void AutoBalancer::static_balance_point_proc_one ( hrp::Vector3 tmp_input_sbp,
const double  ref_com_height 
) [private]

Definition at line 2020 of file AutoBalancer.cpp.

Definition at line 1159 of file AutoBalancer.cpp.

Definition at line 1229 of file AutoBalancer.cpp.

Definition at line 1205 of file AutoBalancer.cpp.

Definition at line 920 of file AutoBalancer.cpp.

Definition at line 998 of file AutoBalancer.cpp.

Definition at line 1240 of file AutoBalancer.cpp.

Definition at line 1448 of file AutoBalancer.cpp.

Definition at line 1457 of file AutoBalancer.cpp.


Member Data Documentation

Definition at line 293 of file AutoBalancer.h.

Definition at line 294 of file AutoBalancer.h.

Definition at line 271 of file AutoBalancer.h.

Definition at line 268 of file AutoBalancer.h.

std::map<std::string, size_t> AutoBalancer::contact_states_index_map [private]

Definition at line 255 of file AutoBalancer.h.

enum { ... } AutoBalancer::control_mode [private]
double AutoBalancer::d_pos_z_root [private]

Definition at line 265 of file AutoBalancer.h.

Definition at line 261 of file AutoBalancer.h.

std::vector<std::string> AutoBalancer::ee_vec [private]

Definition at line 257 of file AutoBalancer.h.

Definition at line 250 of file AutoBalancer.h.

Definition at line 260 of file AutoBalancer.h.

Definition at line 260 of file AutoBalancer.h.

enum { ... } AutoBalancer::gait_type [private]

Definition at line 246 of file AutoBalancer.h.

Definition at line 247 of file AutoBalancer.h.

bool AutoBalancer::gg_solved [private]

Definition at line 247 of file AutoBalancer.h.

std::string AutoBalancer::graspless_manip_arm [private]

Definition at line 285 of file AutoBalancer.h.

Definition at line 284 of file AutoBalancer.h.

Definition at line 286 of file AutoBalancer.h.

Definition at line 287 of file AutoBalancer.h.

Definition at line 251 of file AutoBalancer.h.

Definition at line 289 of file AutoBalancer.h.

std::map<std::string, ABCIKparam> AutoBalancer::ikp [private]

Definition at line 254 of file AutoBalancer.h.

Definition at line 273 of file AutoBalancer.h.

Definition at line 274 of file AutoBalancer.h.

Definition at line 273 of file AutoBalancer.h.

Definition at line 290 of file AutoBalancer.h.

Definition at line 282 of file AutoBalancer.h.

Definition at line 282 of file AutoBalancer.h.

Definition at line 282 of file AutoBalancer.h.

Definition at line 282 of file AutoBalancer.h.

std::vector<std::string> AutoBalancer::leg_names [private]

Definition at line 257 of file AutoBalancer.h.

Definition at line 272 of file AutoBalancer.h.

Definition at line 268 of file AutoBalancer.h.

Definition at line 265 of file AutoBalancer.h.

Definition at line 265 of file AutoBalancer.h.

Definition at line 283 of file AutoBalancer.h.

TimedAcceleration3D AutoBalancer::m_accRef [protected]

Definition at line 164 of file AutoBalancer.h.

OutPort<TimedAcceleration3D> AutoBalancer::m_accRefOut [protected]

Definition at line 165 of file AutoBalancer.h.

TimedBooleanSeq AutoBalancer::m_actContactStates [protected]

Definition at line 143 of file AutoBalancer.h.

InPort<TimedBooleanSeq> AutoBalancer::m_actContactStatesIn [protected]

Definition at line 144 of file AutoBalancer.h.

Definition at line 187 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_basePos [protected]

Definition at line 129 of file AutoBalancer.h.

TimedPose3D AutoBalancer::m_basePose [protected]

Definition at line 162 of file AutoBalancer.h.

OutPort<TimedPose3D> AutoBalancer::m_basePoseOut [protected]

Definition at line 163 of file AutoBalancer.h.

InPort<TimedPoint3D> AutoBalancer::m_basePosIn [protected]

Definition at line 130 of file AutoBalancer.h.

OutPort<TimedPoint3D> AutoBalancer::m_basePosOut [protected]

Definition at line 158 of file AutoBalancer.h.

TimedOrientation3D AutoBalancer::m_baseRpy [protected]

Definition at line 131 of file AutoBalancer.h.

InPort<TimedOrientation3D> AutoBalancer::m_baseRpyIn [protected]

Definition at line 132 of file AutoBalancer.h.

OutPort<TimedOrientation3D> AutoBalancer::m_baseRpyOut [protected]

Definition at line 159 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_baseTform [protected]

Definition at line 160 of file AutoBalancer.h.

OutPort<TimedDoubleSeq> AutoBalancer::m_baseTformOut [protected]

Definition at line 161 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_cog [protected]

Definition at line 150 of file AutoBalancer.h.

OutPort<TimedPoint3D> AutoBalancer::m_cogOut [protected]

Definition at line 181 of file AutoBalancer.h.

TimedBooleanSeq AutoBalancer::m_contactStates [protected]

Definition at line 166 of file AutoBalancer.h.

OutPort<TimedBooleanSeq> AutoBalancer::m_contactStatesOut [protected]

Definition at line 167 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_controlSwingSupportTime [protected]

Definition at line 170 of file AutoBalancer.h.

Definition at line 171 of file AutoBalancer.h.

unsigned int AutoBalancer::m_debugLevel [private]

Definition at line 281 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_diffCP [protected]

Definition at line 141 of file AutoBalancer.h.

InPort<TimedPoint3D> AutoBalancer::m_diffCPIn [protected]

Definition at line 142 of file AutoBalancer.h.

double AutoBalancer::m_dt [private]

Definition at line 262 of file AutoBalancer.h.

TimedLong AutoBalancer::m_emergencySignal [protected]

Definition at line 139 of file AutoBalancer.h.

InPort<TimedLong> AutoBalancer::m_emergencySignalIn [protected]

Definition at line 140 of file AutoBalancer.h.

std::vector<TimedDoubleSeq> AutoBalancer::m_force [protected]

Definition at line 176 of file AutoBalancer.h.

std::vector<TimedPoint3D> AutoBalancer::m_limbCOPOffset [protected]

Definition at line 178 of file AutoBalancer.h.

std::vector<OutPort<TimedPoint3D> *> AutoBalancer::m_limbCOPOffsetOut [protected]

Definition at line 179 of file AutoBalancer.h.

Definition at line 264 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_optionalData [protected]

Definition at line 135 of file AutoBalancer.h.

InPort<TimedDoubleSeq> AutoBalancer::m_optionalDataIn [protected]

Definition at line 136 of file AutoBalancer.h.

OutPort<TimedDoubleSeq> AutoBalancer::m_qOut [protected]

Definition at line 156 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_qRef [protected]

Definition at line 127 of file AutoBalancer.h.

InPort<TimedDoubleSeq> AutoBalancer::m_qRefIn [protected]

Definition at line 128 of file AutoBalancer.h.

std::vector<TimedDoubleSeq> AutoBalancer::m_ref_force [protected]

Definition at line 137 of file AutoBalancer.h.

std::vector<InPort<TimedDoubleSeq> *> AutoBalancer::m_ref_forceIn [protected]

Definition at line 138 of file AutoBalancer.h.

std::vector<OutPort<TimedDoubleSeq> *> AutoBalancer::m_ref_forceOut [protected]

Definition at line 177 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_refFootOriginExtMoment [protected]

Definition at line 145 of file AutoBalancer.h.

Definition at line 146 of file AutoBalancer.h.

Definition at line 147 of file AutoBalancer.h.

Definition at line 148 of file AutoBalancer.h.

Definition at line 263 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_sbpCogOffset [protected]

Definition at line 174 of file AutoBalancer.h.

OutPort<TimedPoint3D> AutoBalancer::m_sbpCogOffsetOut [protected]

Definition at line 175 of file AutoBalancer.h.

Definition at line 193 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_toeheelRatio [protected]

Definition at line 168 of file AutoBalancer.h.

OutPort<TimedDoubleSeq> AutoBalancer::m_toeheelRatioOut [protected]

Definition at line 169 of file AutoBalancer.h.

std::map<std::string, hrp::VirtualForceSensorParam> AutoBalancer::m_vfs [private]

Definition at line 256 of file AutoBalancer.h.

TimedBoolean AutoBalancer::m_walkingStates [protected]

Definition at line 172 of file AutoBalancer.h.

OutPort<TimedBoolean> AutoBalancer::m_walkingStatesOut [protected]

Definition at line 173 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_zmp [protected]

Definition at line 133 of file AutoBalancer.h.

InPort<TimedPoint3D> AutoBalancer::m_zmpIn [protected]

Definition at line 134 of file AutoBalancer.h.

RTC::OutPort<RTC::TimedPoint3D> AutoBalancer::m_zmpOut [protected]

Definition at line 157 of file AutoBalancer.h.

Definition at line 251 of file AutoBalancer.h.

Definition at line 251 of file AutoBalancer.h.

Definition at line 251 of file AutoBalancer.h.

Definition at line 251 of file AutoBalancer.h.

std::vector<hrp::Vector3> AutoBalancer::ref_forces [private]

Definition at line 279 of file AutoBalancer.h.

Definition at line 251 of file AutoBalancer.h.

Definition at line 277 of file AutoBalancer.h.

Definition at line 277 of file AutoBalancer.h.

std::vector<std::string> AutoBalancer::sensor_names [private]

Definition at line 257 of file AutoBalancer.h.

Definition at line 258 of file AutoBalancer.h.

Definition at line 259 of file AutoBalancer.h.

Definition at line 270 of file AutoBalancer.h.

Definition at line 268 of file AutoBalancer.h.

Definition at line 268 of file AutoBalancer.h.

enum { ... } AutoBalancer::use_force [private]

Definition at line 266 of file AutoBalancer.h.

Definition at line 269 of file AutoBalancer.h.

Definition at line 268 of file AutoBalancer.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:57