Stabilizer::STIKParam Struct Reference

Public Attributes
double	avoid_gain
hrp::Vector3	d_foot_pos
hrp::Vector3	d_foot_rpy
hrp::Vector3	d_pos_swing
hrp::Vector3	d_rpy_swing
hrp::Vector3	ee_d_foot_pos
hrp::Vector3	ee_d_foot_rpy
std::string	ee_name
hrp::dvector6	eefm_ee_forcemoment_distribution_weight
hrp::Vector3	eefm_ee_moment_limit
double	eefm_pos_compensation_limit
hrp::Vector3	eefm_pos_damping_gain
hrp::Vector3	eefm_pos_time_const_support
double	eefm_rot_compensation_limit
hrp::Vector3	eefm_rot_damping_gain
hrp::Vector3	eefm_rot_time_const
hrp::Vector3	eefm_swing_pos_spring_gain
hrp::Vector3	eefm_swing_pos_time_const
hrp::Vector3	eefm_swing_rot_spring_gain
hrp::Vector3	eefm_swing_rot_time_const
size_t	ik_loop_count
double	limb_length_margin
hrp::Vector3	localCOPPos
hrp::Vector3	localp
hrp::Matrix33	localR
double	max_limb_length
std::string	parent_name
hrp::Vector3	prev_d_pos_swing
hrp::Vector3	prev_d_rpy_swing
hrp::Vector3	ref_force
hrp::Vector3	ref_moment
double	reference_gain
std::string	sensor_name
double	support_time
double	swing_support_gain
hrp::Vector3	target_ee_diff_p
boost::shared_ptr< FirstOrderLowPassFilter< hrp::Vector3 > >	target_ee_diff_p_filter
hrp::Matrix33	target_ee_diff_r
boost::shared_ptr< FirstOrderLowPassFilter< hrp::Vector3 > >	target_ee_diff_r_filter
std::string	target_name

Detailed Description

Definition at line 258 of file Stabilizer.h.

Member Data Documentation

double Stabilizer::STIKParam::avoid_gain

Definition at line 278 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::d_foot_pos

Definition at line 267 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::d_foot_rpy

Definition at line 267 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::d_pos_swing

Definition at line 275 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::d_rpy_swing

Definition at line 275 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::ee_d_foot_pos

Definition at line 267 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::ee_d_foot_rpy

Definition at line 267 of file Stabilizer.h.

std::string Stabilizer::STIKParam::ee_name

Definition at line 260 of file Stabilizer.h.

hrp::dvector6 Stabilizer::STIKParam::eefm_ee_forcemoment_distribution_weight

Definition at line 271 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::eefm_ee_moment_limit

Definition at line 268 of file Stabilizer.h.

double Stabilizer::STIKParam::eefm_pos_compensation_limit

Definition at line 269 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::eefm_pos_damping_gain

Definition at line 268 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::eefm_pos_time_const_support

Definition at line 268 of file Stabilizer.h.

double Stabilizer::STIKParam::eefm_rot_compensation_limit

Definition at line 269 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::eefm_rot_damping_gain

Definition at line 268 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::eefm_rot_time_const

Definition at line 268 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::eefm_swing_pos_spring_gain

Definition at line 268 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::eefm_swing_pos_time_const

Definition at line 268 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::eefm_swing_rot_spring_gain

Definition at line 268 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::eefm_swing_rot_time_const

Definition at line 268 of file Stabilizer.h.

size_t Stabilizer::STIKParam::ik_loop_count

Definition at line 279 of file Stabilizer.h.

double Stabilizer::STIKParam::limb_length_margin

Definition at line 278 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::localCOPPos

Definition at line 264 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::localp

Definition at line 263 of file Stabilizer.h.

hrp::Matrix33 Stabilizer::STIKParam::localR

Definition at line 265 of file Stabilizer.h.

double Stabilizer::STIKParam::max_limb_length

Definition at line 278 of file Stabilizer.h.

std::string Stabilizer::STIKParam::parent_name

Definition at line 262 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::prev_d_pos_swing

Definition at line 275 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::prev_d_rpy_swing

Definition at line 275 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::ref_force

Definition at line 270 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::ref_moment

Definition at line 270 of file Stabilizer.h.

double Stabilizer::STIKParam::reference_gain

Definition at line 278 of file Stabilizer.h.

std::string Stabilizer::STIKParam::sensor_name

Definition at line 261 of file Stabilizer.h.

double Stabilizer::STIKParam::support_time

Definition at line 272 of file Stabilizer.h.

double Stabilizer::STIKParam::swing_support_gain

Definition at line 272 of file Stabilizer.h.

hrp::Vector3 Stabilizer::STIKParam::target_ee_diff_p

Definition at line 275 of file Stabilizer.h.

boost::shared_ptr<FirstOrderLowPassFilter<hrp::Vector3> > Stabilizer::STIKParam::target_ee_diff_p_filter

Definition at line 274 of file Stabilizer.h.

hrp::Matrix33 Stabilizer::STIKParam::target_ee_diff_r

Definition at line 276 of file Stabilizer.h.

boost::shared_ptr<FirstOrderLowPassFilter<hrp::Vector3> > Stabilizer::STIKParam::target_ee_diff_r_filter

Definition at line 274 of file Stabilizer.h.

std::string Stabilizer::STIKParam::target_name

Definition at line 259 of file Stabilizer.h.

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

• Stabilizer.h