ex_3_biped_balance_with_gui Namespace Reference

Classes
class	Entry3d
class	Scale3d

Functions
def	create_gui ()
def	push_robot ()
def	run_simu ()
def	switch_contact_LF ()
def	switch_contact_RF ()
def	toggle_wireframe_mode ()
def	update_com_ref_scale (value)
def	update_LF_ref_scale (value)
def	update_RF_ref_scale (value)

Variables
list	AXES = ["X", "Y", "Z"]
	com_0 = tsid.robot.com(tsid.formulation.data())
	H_lf_0
	H_rf_0
	th_gui = threading.Thread(target=create_gui)
	th_simu = threading.Thread(target=run_simu)
	tsid = TsidBiped(conf, conf.viewer)

Detailed Description

Created on Wed Apr 17 22:31:22 2019

@author: student

Function Documentation

create_gui()

def ex_3_biped_balance_with_gui.create_gui

(

)

Thread worker function

Definition at line 116 of file ex_3_biped_balance_with_gui.py.

push_robot()

def ex_3_biped_balance_with_gui.push_robot

(

)

Definition at line 110 of file ex_3_biped_balance_with_gui.py.

run_simu()

def ex_3_biped_balance_with_gui.run_simu

(

)

Definition at line 174 of file ex_3_biped_balance_with_gui.py.

switch_contact_LF()

def ex_3_biped_balance_with_gui.switch_contact_LF

(

)

Definition at line 97 of file ex_3_biped_balance_with_gui.py.

switch_contact_RF()

def ex_3_biped_balance_with_gui.switch_contact_RF

(

)

Definition at line 88 of file ex_3_biped_balance_with_gui.py.

toggle_wireframe_mode()

def ex_3_biped_balance_with_gui.toggle_wireframe_mode

(

)

Definition at line 106 of file ex_3_biped_balance_with_gui.py.

update_com_ref_scale()

def ex_3_biped_balance_with_gui.update_com_ref_scale

(

value

)

Definition at line 69 of file ex_3_biped_balance_with_gui.py.

update_LF_ref_scale()

def ex_3_biped_balance_with_gui.update_LF_ref_scale

(

value

)

Definition at line 81 of file ex_3_biped_balance_with_gui.py.

update_RF_ref_scale()

def ex_3_biped_balance_with_gui.update_RF_ref_scale

(

value

)

Definition at line 74 of file ex_3_biped_balance_with_gui.py.

Variable Documentation

AXES

list ex_3_biped_balance_with_gui.AXES = ["X", "Y", "Z"]

Definition at line 19 of file ex_3_biped_balance_with_gui.py.

com_0

ex_3_biped_balance_with_gui.com_0 = tsid.robot.com(tsid.formulation.data())

Definition at line 262 of file ex_3_biped_balance_with_gui.py.

H_lf_0

ex_3_biped_balance_with_gui.H_lf_0

Initial value:

=  tsid.robot.framePosition(
    tsid.formulation.data(), tsid.model.getFrameId(conf.lf_frame_name)
)

Definition at line 266 of file ex_3_biped_balance_with_gui.py.

H_rf_0

ex_3_biped_balance_with_gui.H_rf_0

Initial value:

=  tsid.robot.framePosition(
    tsid.formulation.data(), tsid.model.getFrameId(conf.rf_frame_name)
)

Definition at line 263 of file ex_3_biped_balance_with_gui.py.

th_gui

ex_3_biped_balance_with_gui.th_gui = threading.Thread(target=create_gui)

Definition at line 285 of file ex_3_biped_balance_with_gui.py.

th_simu

ex_3_biped_balance_with_gui.th_simu = threading.Thread(target=run_simu)

Definition at line 288 of file ex_3_biped_balance_with_gui.py.

tsid

ex_3_biped_balance_with_gui.tsid = TsidBiped(conf, conf.viewer)

Definition at line 259 of file ex_3_biped_balance_with_gui.py.