OpenHRP::AutoBalancerService::AutoBalancerParam Struct Reference

Parameters for AutoBalancer. More...

import "AutoBalancerService.idl";

Collaboration diagram for OpenHRP::AutoBalancerService::AutoBalancerParam:

List of all members.

Public Attributes
sequence< DblSequence3 >	default_zmp_offsets
	ZMP offset vectors[m] for rleg and lleg (<-please set by this order)
double	move_base_gain
ControllerMode	controller_mode
UseForceMode	use_force_mode
boolean	graspless_manip_mode
string	graspless_manip_arm
DblArray3	graspless_manip_p_gain
DblArray3	graspless_manip_reference_trans_pos
DblArray4	graspless_manip_reference_trans_rot
double	transition_time
	Transition time [s] for start and stop AutoBalancer.
double	zmp_transition_time
	Transition time [s] for default_zmp_offsets.
double	adjust_footstep_transition_time
	Transition time [s] for adjust foot step.
StrSequence	leg_names
boolean	has_ik_failed
	Flag for inverse kinematics (IK). If true, IK has failed before.
double	pos_ik_thre
	IK position threshold [m].
double	rot_ik_thre
	IK rotation threshold [rad].
boolean	is_hand_fix_mode
	Flag for fix hand while walking.
sequence< Footstep >	end_effector_list
GaitType	default_gait_type
	Default GaitType.
sequence< IKLimbParameters >	ik_limb_parameters
	Sequence for all end-effectors' ik limb parameters.

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Detailed Description

Parameters for AutoBalancer.

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Member Data Documentation

double OpenHRP::AutoBalancerService::AutoBalancerParam::adjust_footstep_transition_time

Transition time [s] for adjust foot step.

ControllerMode OpenHRP::AutoBalancerService::AutoBalancerParam::controller_mode

GaitType OpenHRP::AutoBalancerService::AutoBalancerParam::default_gait_type

Default GaitType.

sequence<DblSequence3> OpenHRP::AutoBalancerService::AutoBalancerParam::default_zmp_offsets

ZMP offset vectors[m] for rleg and lleg (<-please set by this order)

sequence<Footstep> OpenHRP::AutoBalancerService::AutoBalancerParam::end_effector_list

string OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_arm

boolean OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_mode

DblArray3 OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_p_gain

DblArray3 OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_reference_trans_pos

DblArray4 OpenHRP::AutoBalancerService::AutoBalancerParam::graspless_manip_reference_trans_rot

boolean OpenHRP::AutoBalancerService::AutoBalancerParam::has_ik_failed

Flag for inverse kinematics (IK). If true, IK has failed before.

sequence<IKLimbParameters> OpenHRP::AutoBalancerService::AutoBalancerParam::ik_limb_parameters

Sequence for all end-effectors' ik limb parameters.

boolean OpenHRP::AutoBalancerService::AutoBalancerParam::is_hand_fix_mode

Flag for fix hand while walking.

StrSequence OpenHRP::AutoBalancerService::AutoBalancerParam::leg_names

double OpenHRP::AutoBalancerService::AutoBalancerParam::move_base_gain

double OpenHRP::AutoBalancerService::AutoBalancerParam::pos_ik_thre

IK position threshold [m].

double OpenHRP::AutoBalancerService::AutoBalancerParam::rot_ik_thre

IK rotation threshold [rad].

double OpenHRP::AutoBalancerService::AutoBalancerParam::transition_time

Transition time [s] for start and stop AutoBalancer.

UseForceMode OpenHRP::AutoBalancerService::AutoBalancerParam::use_force_mode

double OpenHRP::AutoBalancerService::AutoBalancerParam::zmp_transition_time

Transition time [s] for default_zmp_offsets.

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

• AutoBalancerService.idl