OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam Struct Reference

ReferenceForceUpdater Parameters. More...

import "ReferenceForceUpdaterService.idl";

Collaboration diagram for OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam:

List of all members.

Public Attributes
DblSequence3	motion_dir
	Motion direction to update reference force.
string	frame
	frame of motion_dir ("local" or "world").
double	update_freq
	Update frequency [Hz].
double	update_time_ratio
	Update time ratio [0,1].
double	p_gain
	P gain.
double	d_gain
	D gain.
double	i_gain
	I gain.

---

Detailed Description

ReferenceForceUpdater Parameters.

---

Member Data Documentation

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::d_gain

D gain.

string OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::frame

frame of motion_dir ("local" or "world").

"local" is coordinate at end effector, and "world" is the coordinate between the feet.

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::i_gain

I gain.

DblSequence3 OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::motion_dir

Motion direction to update reference force.

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::p_gain

P gain.

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_freq

Update frequency [Hz].

double OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam::update_time_ratio

Update time ratio [0,1].

---

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

• ReferenceForceUpdaterService.idl