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

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

• include/biped-stabilizer/cop_stabilizer.hpp