In this page, we provide a list of commands that we recommend implementations to support in order to keep some compatibility between different implementations: See CjrlDynamicRobot paragraph "Control of the implementation" for details.
Name |
Value |
Description |
||
| "ComputeZMP" | "true" | Require computation of ZMP. | ||
| "ComputeZMP" | "false" | Do not require computation of ZMP. | ||
| "ComputeVelocity" | "true" | Require computation of velocities of bodies. | ||
| "ComputeVelocity" | "false" | Do not require computation of velocities of bodies. | ||
| "ComputeCoM" | "true" | Require computation of robot center of mass. | ||
| "ComputeCoM" | "false" | Do not require computation of robot center of mass. | ||
| "ComputeAccelerationCoM" | "true" | Require computation of robot center of mass acceleration. | ||
| "ComputeAccelerationCoM" | "false" | Do not require computation of robot center of mass acceleration. | ||
| "ComputeMomentum" | "true" | require computation of global momentum and momentum of each body. | ||
| "ComputeMomentum" | "false" | Do not require computation of global momentum and momentum of each body. | ||
| "ComputeBackwardDynamics" | "true" | Require computation of forces and torques on each joint. | ||
| "ComputeBackwardDynamics" | "false" | Do not require computation of forces and torques on each joint. |
