biped_stabilizer::CopStabilizerSettings Struct Reference

#include <biped-stabilizer/cop_stabilizer.hpp>

Public Member Functions

bool operator== (const CopStabilizerSettings &rhs)
 
bool operator!= (const CopStabilizerSettings &rhs)
 
std::string to_string ()
 
std::ostream & operator<< (std::ostream &out)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW double height = 0.0
 
double foot_length = 0.0
 
double foot_width = 0.0
 
double robot_mass = 0.0
 
double dt = 0.0
 
eVector3 cop_x_gains = eVector3::Zero()
 
eVector3 cop_y_gains = eVector3::Zero()
 
double cop_p_cc_gain = 0.0
 
eVector2 integral_gain = eVector2::Zero()
 
double g = 9.81
 
std::string cop_control_type = "p_cc"
 
bool saturate_cop = true
 
bool use_rate_limited_dcm = false
 

Member Function Documentation

◆ operator!=()

bool biped_stabilizer::CopStabilizerSettings::operator!= ( const CopStabilizerSettings rhs)
inline

◆ operator<<()

std::ostream& biped_stabilizer::CopStabilizerSettings::operator<< ( std::ostream &  out)
inline

◆ operator==()

bool biped_stabilizer::CopStabilizerSettings::operator== ( const CopStabilizerSettings rhs)
inline

◆ to_string()

std::string biped_stabilizer::CopStabilizerSettings::to_string ( )
inline

Member Data Documentation

◆ cop_control_type

std::string biped_stabilizer::CopStabilizerSettings::cop_control_type = "p_cc"

◆ cop_p_cc_gain

double biped_stabilizer::CopStabilizerSettings::cop_p_cc_gain = 0.0

◆ cop_x_gains

eVector3 biped_stabilizer::CopStabilizerSettings::cop_x_gains = eVector3::Zero()

◆ cop_y_gains

eVector3 biped_stabilizer::CopStabilizerSettings::cop_y_gains = eVector3::Zero()

◆ dt

double biped_stabilizer::CopStabilizerSettings::dt = 0.0

◆ foot_length

double biped_stabilizer::CopStabilizerSettings::foot_length = 0.0

◆ foot_width

double biped_stabilizer::CopStabilizerSettings::foot_width = 0.0

◆ g

double biped_stabilizer::CopStabilizerSettings::g = 9.81

◆ height

EIGEN_MAKE_ALIGNED_OPERATOR_NEW double biped_stabilizer::CopStabilizerSettings::height = 0.0

◆ integral_gain

eVector2 biped_stabilizer::CopStabilizerSettings::integral_gain = eVector2::Zero()

◆ robot_mass

double biped_stabilizer::CopStabilizerSettings::robot_mass = 0.0

◆ saturate_cop

bool biped_stabilizer::CopStabilizerSettings::saturate_cop = true

◆ use_rate_limited_dcm

bool biped_stabilizer::CopStabilizerSettings::use_rate_limited_dcm = false

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