rh5_legs_floating_base Namespace Reference

Variables
	floating_base_state = RigidBodyStateSE3()
	position
	orientation
	linear
	angular
	robot_model = RobotModelRBDL()
	r = RobotModelConfig()
	file_or_string
	floating_base
	contacts = ActiveContacts()
	names
	a = ActiveContact()
	mu
	active
	elements = []
	contact_points
	solver = QPOASESSolver()
	cfg = TaskConfig()
	name
	root
	tip
	ref_frame
	priority
	activation
	type
	weights
	scene = AccelerationSceneTSID(robot_model, solver, 0.001)
	ctrl = CartesianPosPDController()
	setpoint = RigidBodyStateSE3()
	feedback = RigidBodyStateSE3()
	control_output = RigidBodyStateSE3()
	joint_state = Joints()
list	init_pos
	js = JointState()
	speed
	acceleration
	microseconds
	qp = scene.update()
	solver_output = scene.solve(qp)

Variable Documentation

a

rh5_legs_floating_base.a = ActiveContact()

acceleration

rh5_legs_floating_base.acceleration

activation

rh5_legs_floating_base.activation

active

rh5_legs_floating_base.active

angular

rh5_legs_floating_base.angular

cfg

rh5_legs_floating_base.cfg = TaskConfig()

contact_points

rh5_legs_floating_base.contact_points

contacts

rh5_legs_floating_base.contacts = ActiveContacts()

control_output

rh5_legs_floating_base.control_output = RigidBodyStateSE3()

ctrl

rh5_legs_floating_base.ctrl = CartesianPosPDController()

elements

list rh5_legs_floating_base.elements = []

feedback

rh5_legs_floating_base.feedback = RigidBodyStateSE3()

file_or_string

rh5_legs_floating_base.file_or_string

floating_base

rh5_legs_floating_base.floating_base

floating_base_state

rh5_legs_floating_base.floating_base_state = RigidBodyStateSE3()

init_pos

list rh5_legs_floating_base.init_pos

Initial value:

=  [0,0,-0.2,0.4,0,-0.2,
            0,0,-0.2,0.4,0,-0.2]

joint_state

rh5_legs_floating_base.joint_state = Joints()

js

rh5_legs_floating_base.js = JointState()

linear

rh5_legs_floating_base.linear

microseconds

rh5_legs_floating_base.microseconds

mu

rh5_legs_floating_base.mu

name

rh5_legs_floating_base.name

names

rh5_legs_floating_base.names

orientation

rh5_legs_floating_base.orientation

position

rh5_legs_floating_base.position

priority

rh5_legs_floating_base.priority

qp

rh5_legs_floating_base.qp = scene.update()

r

rh5_legs_floating_base.r = RobotModelConfig()

ref_frame

rh5_legs_floating_base.ref_frame

robot_model

rh5_legs_floating_base.robot_model = RobotModelRBDL()

root

rh5_legs_floating_base.root

scene

rh5_legs_floating_base.scene = AccelerationSceneTSID(robot_model, solver, 0.001)

setpoint

rh5_legs_floating_base.setpoint = RigidBodyStateSE3()

solver

rh5_legs_floating_base.solver = QPOASESSolver()

solver_output

rh5_legs_floating_base.solver_output = scene.solve(qp)

speed

rh5_legs_floating_base.speed

tip

rh5_legs_floating_base.tip

type

rh5_legs_floating_base.type

weights

rh5_legs_floating_base.weights