Recommended commands in implementations

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.