OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam Struct Reference

ObjectContactTurnaroundDetectorParam parameters. More...

import "ObjectContactTurnaroundDetectorService.idl";

List of all members.

Public Attributes
double	wrench_cutoff_freq
	Cutoff frequence for wrench value [Hz].
double	dwrench_cutoff_freq
	Cutoff frequence for dwrench value [Hz].
double	detect_ratio_thre
	Threshould for detection (0,1)
double	start_ratio_thre
	Threshould for starting detection (0,1)
double	detect_time_thre
	Threshould for time [s] after the first object contact turnaround detection (Wait detect_time_thre [s] after first object contact turnaround detection).
double	start_time_thre
	Threshould for time [s] after the first starting detection (Wait start_time_thre [s] after first start detection).
DblArray3	axis
	Axis.
DblArray3	moment_center
	Moment center [m] from foot mid frame (middle frame of rleg and lleg)
DetectorTotalWrench	detector_total_wrench
	Current flag for whether total force or total moment is checked.

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Detailed Description

ObjectContactTurnaroundDetectorParam parameters.

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Member Data Documentation

DblArray3 OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::axis

Axis.

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::detect_ratio_thre

Threshould for detection (0,1)

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::detect_time_thre

Threshould for time [s] after the first object contact turnaround detection (Wait detect_time_thre [s] after first object contact turnaround detection).

DetectorTotalWrench OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::detector_total_wrench

Current flag for whether total force or total moment is checked.

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::dwrench_cutoff_freq

Cutoff frequence for dwrench value [Hz].

DblArray3 OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::moment_center

Moment center [m] from foot mid frame (middle frame of rleg and lleg)

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::start_ratio_thre

Threshould for starting detection (0,1)

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::start_time_thre

Threshould for time [s] after the first starting detection (Wait start_time_thre [s] after first start detection).

double OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam::wrench_cutoff_freq

Cutoff frequence for wrench value [Hz].

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

• ObjectContactTurnaroundDetectorService.idl