#include <flex-joints/flexi-hips.hpp>
◆ Flex() [1/2]
◆ Flex() [2/2]
◆ computeDeflection()
Computes the deflection expected for certain flexing torque according to:
delta = (delta0 * damping - torques * dt) * inverse(stiffness * dt + damping)
◆ correctDeflections()
Arguments:
leftFlexTorque and rightFlexingTorque are composed as {pitch_torque, roll_torque}
q and dq are the robot posture and velocities without the freeFlyer part.
◆ correctEstimatedDeflections()
Arguments:
desired torque are the values commanded by the controller.
q and dq are the robot posture and velocities without the freeFlyer part.
◆ get_queue_LH()
const std::deque<eArray2>& flex::Flex::get_queue_LH |
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◆ get_queue_RH()
const std::deque<eArray2>& flex::Flex::get_queue_RH |
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◆ get_summation_LH()
const eArray2& flex::Flex::get_summation_LH |
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◆ get_summation_RH()
const eArray2& flex::Flex::get_summation_RH |
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◆ getLeftFlex0()
const eVector2& flex::Flex::getLeftFlex0 |
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◆ getRightFlex0()
const eVector2& flex::Flex::getRightFlex0 |
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◆ getSettings()
◆ initialize()
void flex::Flex::initialize |
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const FlexSettings & |
settings | ) |
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◆ reset()
void flex::Flex::reset |
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◆ setLeftFlex0()
void flex::Flex::setLeftFlex0 |
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const eVector2 & |
delta0 | ) |
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◆ setRightFlex0()
void flex::Flex::setRightFlex0 |
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const eVector2 & |
delta0 | ) |
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The documentation for this class was generated from the following files: