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Basic RT components and utilities
315.12.1
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Parameters for GaitGenerator. More...
import "AutoBalancerService.idl";
Public Attributes | |
| double | default_step_time |
| Step time [s]. | |
| double | default_step_height |
| Step height [m]. | |
| double | default_double_support_ratio |
| Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time. | |
| double | default_double_support_ratio_before |
| Ratio of first double support period. Ratio is included in (0, 1). First double support period time is default_double_support_ratio_before*default_step_time. | |
| double | default_double_support_ratio_after |
| Ratio of last double support period. Ratio is included in (0, 1). Last double support period time is default_double_support_ratio_after*default_step_time. | |
| double | default_double_support_static_ratio |
| Ratio of double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio >= default_double_support_static_ratio.. | |
| double | default_double_support_static_ratio_before |
| Ratio of first double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio_before >= default_double_support_static_ratio_before.. | |
| double | default_double_support_static_ratio_after |
| Ratio of last double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio_after >= default_double_support_static_ratio_after.. | |
| double | default_double_support_ratio_swing_before |
| Ratio of double support period before swing. Ratio is included in (0, 1). | |
| double | default_double_support_ratio_swing_after |
| Ratio of double support period after swing. Ratio is included in (0, 1). | |
| sequence< double, 4 > | stride_parameter |
| Stride limitation of forward x[m], y[m], theta[deg], and backward x[m] for goPos. | |
| DblArray5 | stride_limitation_for_circle_type |
| Stride limitation when generating footsteps with stride limitation type CIRCLE (forward, outside, theta, backward, inside) [m]. | |
| OrbitType | default_orbit_type |
| Default OrbitType. | |
| double | swing_trajectory_delay_time_offset |
| Time offset [s] for swing trajectory by delay_hoffarbib_trajectory_generator. | |
| double | swing_trajectory_final_distance_weight |
| Weight parameter for distance of final path of delay_hoffarbib_trajectory_generator (1.0 by default). | |
| DblArray3 | stair_trajectory_way_point_offset |
| Way point offset 3D vector [m] for stair_delay_hoffarbib_trajectory_generator. | |
| DblArray3 | cycloid_delay_kick_point_offset |
| Kick point offset 3D vector [m] for cycloid_delay_kick_hoffarbib_trajectory_generator. | |
| double | swing_trajectory_time_offset_xy2z |
| Time offset between Z convergence to antecedent path and XY convergence. [swing time]=[Z convergence time]=[XY convergence time]-[swing_trajectory_xy_time_offset]. 0 by default, this means Z convergence time and XY convergence time are same. | |
| double | gravitational_acceleration |
| Gravitational acceleration [m/s^2]. | |
| double | toe_pos_offset_x |
| Toe position offset [m] in end-effector frame x axis. | |
| double | heel_pos_offset_x |
| Heel position offset [m] in end-effector frame x axis. | |
| double | toe_zmp_offset_x |
| Toe ZMP offset [m] in end-effector frame x axis. | |
| double | heel_zmp_offset_x |
| Heel ZMP offset [m] in end-effector frame x axis. | |
| double | toe_angle |
| Maximum toe angle [deg] for toe-off motion. | |
| double | heel_angle |
| Maximum heel angle [deg] for heel-contact motion. | |
| double | toe_check_thre |
| Threshould [m] (>=0) whether toe is used or not. This is used only if use_toe_heel_auto_set == true. | |
| double | heel_check_thre |
| Threshould [m] (>=0) whether heel is used or not. This is used only if use_toe_heel_auto_set == true. | |
| sequence< double > | toe_heel_phase_ratio |
| Sequence of phase ratio of toe-off and heel-contact. Sum of toe_heel_phase_ratio should be 1.0. | |
| boolean | use_toe_joint |
| Use toe joint or not in toe-off heel-contact motion. | |
| boolean | use_toe_heel_transition |
| Use toe heel zmp transition. If true, zmp moves among default position, toe position (described by toe_zmp_offset_x), and heel position (described by heel_zmp_offset_x). | |
| boolean | use_toe_heel_auto_set |
| Use toe heel auto setting. If true, gait generator autonomously determine whether toe and heel are used. | |
| sequence< double, 4 > | zmp_weight_map |
| ZMP weight of RLEG, LLEG, RARM and LARM. | |
| sequence< DblSequence3 > | leg_default_translate_pos |
| Foot position offset[m] (rleg and lleg) | |
| long | optional_go_pos_finalize_footstep_num |
| Number of optional finalize footsteps in goPos. | |
| long | overwritable_footstep_index_offset |
| Offset for overwritable footstep index. Offset from current footstep index. Used in emergency_stop and velocity_mode. | |
| DblArray5 | overwritable_stride_limitation |
| Stride limitation when overwriting footsteps (forward, outside, theta, backward, inside) [m]. | |
| boolean | use_stride_limitation |
| Use stride limitation or not. | |
| StrideLimitationType | stride_limitation_type |
| Stride limitation type. | |
| DblArray4 | leg_margin |
| Leg margin between foot end effector position and foot edge (front, rear, outside, inside) [m]. | |
| double | footstep_modification_gain |
| Feedback gain when modifying footsteps based on Capture Point. | |
| boolean | modify_footsteps |
| Whether modify footsteps based on Capture Point. | |
| DblArray2 | cp_check_margin |
| CP check margin when modifying footsteps (x, y) [m]. | |
| double | margin_time_ratio |
| Margin time ratio for footstep modification before landing [s]. | |
Parameters for GaitGenerator.
CP check margin when modifying footsteps (x, y) [m].
Kick point offset 3D vector [m] for cycloid_delay_kick_hoffarbib_trajectory_generator.
Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time.
Ratio of last double support period. Ratio is included in (0, 1). Last double support period time is default_double_support_ratio_after*default_step_time.
Ratio of first double support period. Ratio is included in (0, 1). First double support period time is default_double_support_ratio_before*default_step_time.
Ratio of double support period after swing. Ratio is included in (0, 1).
Ratio of double support period before swing. Ratio is included in (0, 1).
Ratio of double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio >= default_double_support_static_ratio..
Ratio of last double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio_after >= default_double_support_static_ratio_after..
Ratio of first double support static period in which reference ZMP does not move. Ratio is included in (0, 1). default_double_support_ratio_before >= default_double_support_static_ratio_before..
Default OrbitType.
Step height [m].
Step time [s].
Feedback gain when modifying footsteps based on Capture Point.
Gravitational acceleration [m/s^2].
Maximum heel angle [deg] for heel-contact motion.
Threshould [m] (>=0) whether heel is used or not. This is used only if use_toe_heel_auto_set == true.
Heel position offset [m] in end-effector frame x axis.
Heel ZMP offset [m] in end-effector frame x axis.
Foot position offset[m] (rleg and lleg)
Leg margin between foot end effector position and foot edge (front, rear, outside, inside) [m].
Margin time ratio for footstep modification before landing [s].
Whether modify footsteps based on Capture Point.
Number of optional finalize footsteps in goPos.
Offset for overwritable footstep index. Offset from current footstep index. Used in emergency_stop and velocity_mode.
Stride limitation when overwriting footsteps (forward, outside, theta, backward, inside) [m].
Way point offset 3D vector [m] for stair_delay_hoffarbib_trajectory_generator.
Stride limitation when generating footsteps with stride limitation type CIRCLE (forward, outside, theta, backward, inside) [m].
Stride limitation type.
| sequence<double, 4> OpenHRP::AutoBalancerService::GaitGeneratorParam::stride_parameter |
Stride limitation of forward x[m], y[m], theta[deg], and backward x[m] for goPos.
Time offset [s] for swing trajectory by delay_hoffarbib_trajectory_generator.
Weight parameter for distance of final path of delay_hoffarbib_trajectory_generator (1.0 by default).
Time offset between Z convergence to antecedent path and XY convergence. [swing time]=[Z convergence time]=[XY convergence time]-[swing_trajectory_xy_time_offset]. 0 by default, this means Z convergence time and XY convergence time are same.
Maximum toe angle [deg] for toe-off motion.
Threshould [m] (>=0) whether toe is used or not. This is used only if use_toe_heel_auto_set == true.
Sequence of phase ratio of toe-off and heel-contact. Sum of toe_heel_phase_ratio should be 1.0.
Toe position offset [m] in end-effector frame x axis.
Toe ZMP offset [m] in end-effector frame x axis.
Use stride limitation or not.
Use toe heel auto setting. If true, gait generator autonomously determine whether toe and heel are used.
Use toe heel zmp transition. If true, zmp moves among default position, toe position (described by toe_zmp_offset_x), and heel position (described by heel_zmp_offset_x).
Use toe joint or not in toe-off heel-contact motion.
| sequence<double, 4> OpenHRP::AutoBalancerService::GaitGeneratorParam::zmp_weight_map |
ZMP weight of RLEG, LLEG, RARM and LARM.
1.7.6.1